+ python -m lidar_slam --no-model /working/90974db6-3605-4c98-972d-ab7450a59c8c Lidar SLAM 0.0.14 ===================================================== The recording path: /working/90974db6-3605-4c98-972d-ab7450a59c8c 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 0.028623853 Adjusted end_distance from 9.223372036854776e+18 to 309.218623853 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028623853 meters Centerline goodness : 0.497147 Centerline is valid? [0, False] SLAMing on 0.058623853000000004 meters Centerline goodness : 0.469830 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999987e-01 2.42281071e-05 -1.60327362e-04 2.09038946e-03] [-2.42250701e-05 1.00000000e+00 1.89442370e-05 1.03410167e-04] [ 1.60327821e-04 -1.89403528e-05 9.99999987e-01 -1.77727360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088623853 meters Centerline goodness : 0.432936 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999939e-01 8.21119912e-05 -3.38021490e-04 4.33391902e-03] [-8.21077583e-05 9.99999997e-01 1.25365258e-05 4.11425278e-04] [ 3.38022519e-04 -1.25087709e-05 9.99999943e-01 -3.64098448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11862385300000002 meters Centerline goodness : 0.500999 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999896e-01 8.80211425e-05 -4.48530583e-04 6.00674573e-03] [-8.80532791e-05 9.99999994e-01 -7.16294028e-05 1.27240688e-03] [ 4.48524275e-04 7.16688899e-05 9.99999897e-01 -5.05413168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148623853 meters Centerline goodness : 0.460470 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999885e-01 3.68748306e-04 -3.05751139e-04 9.34763940e-03] [-3.68770035e-04 9.99999929e-01 -7.10146616e-05 1.64013430e-03] [ 3.05724931e-04 7.11274053e-05 9.99999951e-01 -6.43917568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17862385300000003 meters Centerline goodness : 0.089532 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999773e-01 5.17371176e-04 -4.30776762e-04 1.12406251e-02] [-5.17358863e-04 9.99999866e-01 2.86932645e-05 8.16019118e-04] [ 4.30791549e-04 -2.84703918e-05 9.99999907e-01 -8.09969679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20862385300000003 meters Centerline goodness : 0.447132 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999722e-01 7.11711856e-04 -2.24408117e-04 1.39651051e-02] [-7.11701697e-04 9.99999746e-01 4.53457730e-05 3.62611414e-04] [ 2.24440333e-04 -4.51860487e-05 9.99999974e-01 -9.45710362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23862385300000002 meters Centerline goodness : 0.397186 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999688e-01 7.13176018e-04 -3.38611306e-04 1.56436745e-02] [-7.13177225e-04 9.99999746e-01 -3.44123133e-06 1.14530138e-03] [ 3.38608766e-04 3.68272013e-06 9.99999943e-01 -1.07742341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268623853 meters Centerline goodness : 0.432449 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999581e-01 7.86075789e-04 -4.70113319e-04 1.77057472e-02] [-7.86076915e-04 9.99999691e-01 -2.21017320e-06 1.41295492e-03] [ 4.70111437e-04 2.57971750e-06 9.99999889e-01 -1.23760762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.298623853 meters Centerline goodness : 0.667581 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999340e-01 1.06780165e-03 -4.24434602e-04 2.09226895e-02] [-1.06763042e-03 9.99999349e-01 4.03456532e-04 -1.86068425e-03] [ 4.24865138e-04 -4.03003127e-04 9.99999829e-01 -1.38727699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328623853 meters Centerline goodness : 0.606653 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.02 [[ 9.99999219e-01 1.14345127e-03 -5.05432038e-04 2.28596023e-02] [-1.14317151e-03 9.99999193e-01 5.53444872e-04 -3.06357364e-03] [ 5.06064468e-04 -5.52866644e-04 9.99999719e-01 -1.55544331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358623853 meters Centerline goodness : 0.396952 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999009e-01 1.22898447e-03 -6.86129006e-04 2.51080949e-02] [-1.22853549e-03 9.99999031e-01 6.54402421e-04 -3.52497447e-03] [ 6.86932592e-04 -6.53558839e-04 9.99999550e-01 -1.73711699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388623853 meters Centerline goodness : 0.657916 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99998747e-01 1.31302442e-03 -8.84401055e-04 2.74451088e-02] [-1.31234180e-03 9.99998841e-01 7.71975882e-04 -4.27762118e-03] [ 8.85413653e-04 -7.70814278e-04 9.99999311e-01 -1.91917384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418623853 meters Centerline goodness : 0.665896 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99998364e-01 1.61803962e-03 -8.08943730e-04 3.07989402e-02] [-1.61716351e-03 9.99998106e-01 1.08251812e-03 -6.79971910e-03] [ 8.10693756e-04 -1.08120815e-03 9.99999087e-01 -2.08140613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448623853 meters Centerline goodness : 0.618364 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99998143e-01 1.67431060e-03 -9.54771410e-04 3.27154351e-02] [-1.67323372e-03 9.99997964e-01 1.12757436e-03 -6.92021148e-03] [ 9.56657376e-04 -1.12597471e-03 9.99998908e-01 -2.22624907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.478623853 meters Centerline goodness : 0.384124 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99997743e-01 1.95769160e-03 -8.25664777e-04 3.57873689e-02] [-1.95665692e-03 9.99997302e-01 1.25210501e-03 -6.83954616e-03] [ 8.28113784e-04 -1.25048664e-03 9.99998875e-01 -2.32580537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508623853 meters Centerline goodness : 0.352148 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.02 [[ 9.99997260e-01 2.12162812e-03 -9.89334017e-04 3.79512768e-02] [-2.12025986e-03 9.99996797e-01 1.38201174e-03 -7.70190715e-03] [ 9.92262963e-04 -1.37991031e-03 9.99998556e-01 -2.47526416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538623853 meters Centerline goodness : 0.336910 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.99999665 0.00230311 -0.00118061 0.04010896] [-0.00230125 0.99999612 0.00157089 -0.00909569] [ 0.00118422 -0.00156817 0.99999807 -0.0264203 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5686238530000001 meters Centerline goodness : 0.309811 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:-0.03 [[ 0.9999961 0.0024338 -0.00137215 0.04230975] [-0.00243145 0.99999559 0.00170816 -0.00985317] [ 0.0013763 -0.00170481 0.9999976 -0.02809892] [ 0. 0. 0. 1. ]] SLAMing on 0.5986238530000001 meters Centerline goodness : 0.306005 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999537 0.00279448 -0.00120561 0.0456474 ] [-0.0027921 0.99999417 0.00196491 -0.01091369] [ 0.0012111 -0.00196153 0.99999734 -0.02936956] [ 0. 0. 0. 1. ]] SLAMing on 0.6286238530000001 meters Centerline goodness : 0.292626 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999482 0.00291232 -0.00136904 0.04778261] [-0.00290949 0.99999363 0.00206546 -0.01167702] [ 0.00137505 -0.00206146 0.99999693 -0.0310951 ] [ 0. 0. 0. 1. ]] SLAMing on 0.658623853 meters Centerline goodness : 0.062262 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.9999942 0.00302088 -0.00157548 0.05004434] [-0.00301747 0.99999311 0.00216181 -0.01227872] [ 0.001582 -0.00215704 0.99999642 -0.03253695] [ 0. 0. 0. 1. ]] SLAMing on 0.6886238530000001 meters Centerline goodness : 0.271911 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:-0.03 [[ 0.99999376 0.00319785 -0.00149815 0.05291354] [-0.00319445 0.99999233 0.0022654 -0.01253254] [ 0.00150538 -0.0022606 0.99999631 -0.03324387] [ 0. 0. 0. 1. ]] SLAMing on 0.7186238530000001 meters Centerline goodness : 0.284617 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.03 [[ 0.99999294 0.003363 -0.00167561 0.05556542] [-0.00335899 0.9999915 0.00238962 -0.01331438] [ 0.00168363 -0.00238398 0.99999574 -0.03495174] [ 0. 0. 0. 1. ]] SLAMing on 0.7486238530000001 meters Centerline goodness : 0.067878 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999204 0.00355017 -0.00182298 0.06005223] [-0.00354565 0.99999064 0.00247991 -0.01420566] [ 0.00183177 -0.00247343 0.99999526 -0.03701224] [ 0. 0. 0. 1. ]] SLAMing on 0.7786238530000001 meters Centerline goodness : 0.262247 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999136 0.00358588 -0.00210253 0.0629047 ] [-0.00358067 0.99999052 0.00247585 -0.014173 ] [ 0.00211138 -0.0024683 0.99999472 -0.0388313 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8086238530000001 meters Centerline goodness : 0.262247 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.99999136 0.00358588 -0.00210253 0.0629047 ] [-0.00358067 0.99999052 0.00247585 -0.014173 ] [ 0.00211138 -0.0024683 0.99999472 -0.0388313 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8386238530000001 meters Centerline goodness : 0.265816 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.04 [[ 0.99999075 0.00360458 -0.00234614 0.06534193] [-0.00359874 0.99999043 0.00248933 -0.01431028] [ 0.00235509 -0.00248087 0.99999415 -0.04020032] [ 0. 0. 0. 1. ]] SLAMing on 0.8686238530000001 meters Centerline goodness : 0.270234 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.9999899 0.00366376 -0.00260268 0.06778365] [-0.00365696 0.9999899 0.0026136 -0.01513551] [ 0.00261223 -0.00260405 0.9999932 -0.04146382] [ 0. 0. 0. 1. ]] SLAMing on 0.8986238530000001 meters Centerline goodness : 0.257315 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.99998983 0.003767 -0.00248063 0.07117636] [-0.00375977 0.99998869 0.00291142 -0.01776352] [ 0.00249157 -0.00290207 0.99999269 -0.04253296] [ 0. 0. 0. 1. ]] SLAMing on 0.928623853 meters Centerline goodness : 0.247419 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.04 [[ 0.99998912 0.00376282 -0.00275786 0.07381066] [-0.00375456 0.99998847 0.00299423 -0.01838815] [ 0.0027691 -0.00298384 0.99999171 -0.04385457] [ 0. 0. 0. 1. ]] SLAMing on 0.9586238530000001 meters Centerline goodness : 0.243104 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.05 [[ 0.9999881 0.0037793 -0.00308361 0.07683564] [-0.00376979 0.99998814 0.00308408 -0.01890908] [ 0.00309523 -0.00307242 0.99999049 -0.04548442] [ 0. 0. 0. 1. ]] SLAMing on 0.9886238530000001 meters Centerline goodness : 0.231701 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.05 [[ 0.99998542 0.00345242 -0.00415171 0.08894045] [-0.00343894 0.9999888 0.00325075 -0.02141248] [ 0.00416288 -0.00323642 0.9999861 -0.05272973] [ 0. 0. 0. 1. ]] SLAMing on 1.018623853 meters Centerline goodness : 0.233770 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.05 [[ 0.99998379 0.00354983 -0.00445145 0.09184083] [-0.00353404 0.99998745 0.00355092 -0.02379202] [ 0.004464 -0.00353513 0.99998379 -0.05430124] [ 0. 0. 0. 1. ]] SLAMing on 1.048623853 meters Centerline goodness : 0.238559 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99998217 0.00362982 -0.00474136 0.09439042] [-0.00361148 0.99998598 0.00387206 -0.02613429] [ 0.00475535 -0.00385487 0.99998126 -0.05548463] [ 0. 0. 0. 1. ]] SLAMing on 1.078623853 meters Centerline goodness : 0.216608 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 0.99997943 0.00307725 -0.00562755 0.10541991] [-0.0030538 0.99998664 0.00417029 -0.02975626] [ 0.00564031 -0.00415302 0.99997547 -0.06146613] [ 0. 0. 0. 1. ]] SLAMing on 1.108623853 meters Centerline goodness : 0.208719 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 0.99997746 0.0031956 -0.00590444 0.10787392] [-0.00316894 0.99998477 0.0045191 -0.03235163] [ 0.00591879 -0.00450029 0.99997236 -0.06257714] [ 0. 0. 0. 1. ]] SLAMing on 1.1386238530000001 meters Centerline goodness : 0.240784 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.03, Z:-0.06 [[ 0.9999751 0.00331913 -0.00622761 0.11050554] [-0.00328908 0.99998293 0.00482969 -0.0348548 ] [ 0.00624353 -0.00480909 0.99996895 -0.063601 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1686238530000002 meters Centerline goodness : 0.236730 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.06 [[ 0.99997416 0.00359289 -0.00622684 0.11426466] [-0.00356034 0.99997998 0.00523015 -0.03737839] [ 0.0062455 -0.00520785 0.99996694 -0.06471624] [ 0. 0. 0. 1. ]] SLAMing on 1.1986238530000002 meters Centerline goodness : 0.203727 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.07 [[ 0.99997218 0.00373207 -0.00645839 0.1165093 ] [-0.00369711 0.99997849 0.00541717 -0.038599 ] [ 0.00647847 -0.00539314 0.99996447 -0.06565508] [ 0. 0. 0. 1. ]] SLAMing on 1.2286238530000002 meters Centerline goodness : 0.155382 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.07 [[ 0.99997337 0.00170094 -0.00709711 0.12481617] [-0.00168693 0.99999662 0.00197996 -0.03728022] [ 0.00710045 -0.00196794 0.99997286 -0.06960991] [ 0. 0. 0. 1. ]] SLAMing on 1.2586238530000002 meters Centerline goodness : 0.206473 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.09 [[ 0.99999529 0.00191354 0.00240108 0.1310125 ] [-0.00191805 0.9999964 0.00187864 -0.03811873] [-0.00239748 -0.00188324 0.99999535 -0.09443071] [ 0. 0. 0. 1. ]] SLAMing on 1.288623853 meters Centerline goodness : 0.210163 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.04, Z:-0.10 [[ 0.99999555 0.00203419 0.00218391 0.13290335] [-0.00203844 0.99999603 0.00194354 -0.03827243] [-0.00217995 -0.00194799 0.99999573 -0.09502944] [ 0. 0. 0. 1. ]] SLAMing on 1.318623853 meters Centerline goodness : 0.209530 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.10 [[ 0.99999565 0.00218718 0.00197889 0.13500234] [-0.00219132 0.99999541 0.00209013 -0.03888546] [-0.00197431 -0.00209446 0.99999586 -0.09598783] [ 0. 0. 0. 1. ]] SLAMing on 1.348623853 meters Centerline goodness : 0.170555 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.10 [[ 0.99999566 0.00265349 0.00127729 0.14510133] [-0.0026567 0.99999329 0.00252162 -0.04220504] [-0.00127059 -0.002525 0.999996 -0.10189293] [ 0. 0. 0. 1. ]] SLAMing on 1.3786238530000001 meters Centerline goodness : 0.193543 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.10 [[ 9.99995363e-01 2.88698943e-03 9.69469956e-04 1.48198906e-01] [-2.88971797e-03 9.99991835e-01 2.82496472e-03 -4.45375989e-02] [-9.61306396e-04 -2.82775312e-03 9.99995540e-01 -1.03399424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4086238530000001 meters Centerline goodness : 0.179973 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.10 [[ 9.99994966e-01 3.09625098e-03 6.94085029e-04 1.50880806e-01] [-3.09842002e-03 9.99990251e-01 3.14605055e-03 -4.69095335e-02] [-6.84337300e-04 -3.14818528e-03 9.99994810e-01 -1.04714813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4386238530000002 meters Centerline goodness : 0.204124 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.05, Z:-0.11 [[ 9.99994594e-01 3.26811997e-03 3.63544864e-04 1.54052388e-01] [-3.26932001e-03 9.99989042e-01 3.35084183e-03 -4.83245612e-02] [-3.52589928e-04 -3.35201225e-03 9.99994320e-01 -1.06340972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4686238530000002 meters Centerline goodness : 0.186402 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.11 [[ 9.99991553e-01 4.04761149e-03 -7.14239086e-04 1.65941639e-01] [-4.04485307e-03 9.99984515e-01 3.82212461e-03 -4.86563710e-02] [ 7.29698502e-04 -3.81920333e-03 9.99992441e-01 -1.13303897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4986238530000002 meters Centerline goodness : 0.074521 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.11 [[ 0.99999109 0.00408726 -0.00105283 0.16909715] [-0.00408333 0.99998479 0.00370636 -0.04713188] [ 0.00106796 -0.00370203 0.99999258 -0.11474527] [ 0. 0. 0. 1. ]] SLAMing on 1.5286238530000003 meters Centerline goodness : 0.042933 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.05, Z:-0.12 [[ 0.99999027 0.00419366 -0.00136916 0.17210553] [-0.00418865 0.9999846 0.00364049 -0.04598953] [ 0.00138441 -0.00363472 0.99999244 -0.11608313] [ 0. 0. 0. 1. ]] SLAMing on 1.558623853 meters Centerline goodness : 0.210673 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.12 [[ 0.99998816 0.00457179 -0.00166912 0.17746375] [-0.00456577 0.99998312 0.00359271 -0.04454523] [ 0.00168552 -0.00358504 0.99999215 -0.11811266] [ 0. 0. 0. 1. ]] SLAMing on 1.588623853 meters Centerline goodness : 0.178607 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.12 [[ 0.99998759 0.00461072 -0.00188715 0.179585 ] [-0.00460392 0.99998295 0.00359294 -0.04450785] [ 0.00190368 -0.00358421 0.99999176 -0.11884897] [ 0. 0. 0. 1. ]] SLAMing on 1.6186238530000001 meters Centerline goodness : 0.216159 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.12 [[ 0.99998663 0.00469882 -0.00215806 0.18228619] [-0.00469073 0.99998202 0.0037355 -0.04588824] [ 0.00217557 -0.00372533 0.99999069 -0.12004649] [ 0. 0. 0. 1. ]] SLAMing on 1.6486238530000001 meters Centerline goodness : 0.141037 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.12 [[ 9.99993187e-01 2.26294516e-03 -2.91638902e-03 1.89778304e-01] [-2.26233911e-03 9.99997419e-01 2.11091988e-04 -4.25666707e-02] [ 2.91685918e-03 -2.04492689e-04 9.99995725e-01 -1.24333153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6786238530000002 meters Centerline goodness : 0.132462 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.13 [[ 9.99992918e-01 2.18687134e-03 -3.06291260e-03 1.93747044e-01] [-2.18547493e-03 9.99997506e-01 4.59184135e-04 -4.39609675e-02] [ 3.06390914e-03 -4.52486964e-04 9.99995204e-01 -1.25456575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7086238530000002 meters Centerline goodness : 0.237943 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.13 [[ 9.99992148e-01 2.18489425e-03 -3.30596199e-03 1.96048671e-01] [-2.18278061e-03 9.99997411e-01 6.42815530e-04 -4.51268178e-02] [ 3.30735792e-03 -6.35594293e-04 9.99994329e-01 -1.26253387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7386238530000002 meters Centerline goodness : 0.229764 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.05, Z:-0.13 [[ 9.99991151e-01 2.10456794e-03 -3.64253285e-03 1.98917529e-01] [-2.10148094e-03 9.99997430e-01 8.51106726e-04 -4.72248173e-02] [ 3.64431470e-03 -8.43444481e-04 9.99993004e-01 -1.27134723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7686238530000002 meters Centerline goodness : 0.126486 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.05, Z:-0.13 [[ 9.99989734e-01 5.98401340e-04 -4.49157376e-03 2.08322183e-01] [-5.94923460e-04 9.99999522e-01 7.75608065e-04 -5.23513470e-02] [ 4.49203574e-03 -7.72927960e-04 9.99989612e-01 -1.31275434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7986238530000003 meters Centerline goodness : 0.149514 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.13 [[ 9.99988406e-01 5.65959024e-04 -4.78192956e-03 2.10901413e-01] [-5.60171416e-04 9.99999109e-01 1.21156061e-03 -5.59933759e-02] [ 4.78261099e-03 -1.20886787e-03 9.99987833e-01 -1.32139803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.828623853 meters Centerline goodness : 0.109085 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.06, Z:-0.13 [[ 9.99986899e-01 4.28677992e-04 -5.10070066e-03 2.13840530e-01] [-4.21001971e-04 9.99998778e-01 1.50587398e-03 -5.87845859e-02] [ 5.10133996e-03 -1.50370684e-03 9.99985857e-01 -1.32941879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.858623853 meters Centerline goodness : 0.115297 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.06, Z:-0.13 [[ 9.99984712e-01 7.14438418e-05 -5.52913056e-03 2.19003399e-01] [-5.96712169e-05 9.99997731e-01 2.12933569e-03 -6.44220332e-02] [ 5.52927015e-03 -2.12897320e-03 9.99982447e-01 -1.34255360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8886238530000001 meters Centerline goodness : 0.149289 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.07, Z:-0.13 [[ 9.99983577e-01 1.75197842e-04 -5.72843248e-03 2.21017289e-01] [-1.60950582e-04 9.99996893e-01 2.48747961e-03 -6.71555869e-02] [ 5.72885048e-03 -2.48651676e-03 9.99980499e-01 -1.34871311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9186238530000002 meters Centerline goodness : 0.145438 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.14 [[ 9.99982061e-01 3.15224394e-04 -5.98150941e-03 2.25063962e-01] [-2.97329521e-04 9.99995479e-01 2.99235203e-03 -7.07789092e-02] [ 5.98242562e-03 -2.99051987e-03 9.99977633e-01 -1.35731013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9486238530000002 meters Centerline goodness : 0.143119 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.07, Z:-0.14 [[ 9.99980602e-01 4.46878115e-04 -6.21252883e-03 2.27321284e-01] [-4.26516535e-04 9.99994535e-01 3.27844143e-03 -7.30960172e-02] [ 6.21395995e-03 -3.27572809e-03 9.99975328e-01 -1.36561793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9786238530000002 meters Centerline goodness : 0.355418 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.08, Z:-0.14 [[ 9.99978901e-01 6.05170925e-04 -6.46776998e-03 2.29969135e-01] [-5.81319804e-04 9.99993027e-01 3.68893241e-03 -7.64068695e-02] [ 6.46995732e-03 -3.68509473e-03 9.99972279e-01 -1.37719698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008623853 meters Centerline goodness : 0.141183 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.08, Z:-0.16 [[ 9.99999636e-01 -5.04147913e-04 -6.88543818e-04 2.44441954e-01] [ 5.05443120e-04 9.99998101e-01 1.88220364e-03 -8.09316885e-02] [ 6.87593602e-04 -1.88255097e-03 9.99997992e-01 -1.59629182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0386238530000003 meters Centerline goodness : 0.353496 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.08, Z:-0.16 [[ 9.99999538e-01 -3.25103926e-04 -9.04856820e-04 2.46548072e-01] [ 3.27223825e-04 9.99997200e-01 2.34363829e-03 -8.43757825e-02] [ 9.04092361e-04 -2.34393330e-03 9.99996844e-01 -1.60322324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068623853 meters SLAMing on 2.0986238530000003 meters Centerline goodness : 0.347154 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.99997757e-01 -6.27001756e-04 -2.02291786e-03 2.58910128e-01] [ 6.32661468e-04 9.99995884e-01 2.79837049e-03 -8.95578553e-02] [ 2.02115495e-03 -2.79964403e-03 9.99994038e-01 -1.66746859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128623853 meters Centerline goodness : 0.344548 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.09, Z:-0.17 [[ 9.99997345e-01 -4.90697089e-04 -2.25148265e-03 2.61250960e-01] [ 4.97775307e-04 9.99994933e-01 3.14432063e-03 -9.20364291e-02] [ 2.24992833e-03 -3.14543301e-03 9.99992522e-01 -1.67761691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1586238530000004 meters Centerline goodness : 0.142648 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.17 [[ 9.99996122e-01 -2.20244261e-04 -2.77606715e-03 2.67046327e-01] [ 2.30650556e-04 9.99992947e-01 3.74881200e-03 -9.62413868e-02] [ 2.77522191e-03 -3.74943776e-03 9.99989120e-01 -1.70019322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.188623853 meters Centerline goodness : 0.141787 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.10, Z:-0.17 [[ 9.99995528e-01 -1.05817329e-05 -2.99057826e-03 2.69114080e-01] [ 2.27442643e-05 9.99991730e-01 4.06694498e-03 -9.84676741e-02] [ 2.99051049e-03 -4.06699481e-03 9.99987258e-01 -1.70748071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2186238530000004 meters SLAMing on 2.2486238530000002 meters SLAMing on 2.278623853 meters Centerline goodness : 0.529392 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.11, Z:-0.18 [[ 0.99999319 0.00109053 -0.00352505 0.28417117] [-0.00107265 0.99998658 0.00506774 -0.10564256] [ 0.00353053 -0.00506392 0.99998095 -0.1771591 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3086238530000003 meters Centerline goodness : 0.149842 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99999215 0.00123624 -0.00376367 0.28637068] [-0.00121642 0.99998541 0.00526392 -0.10692464] [ 0.00377012 -0.0052593 0.99997906 -0.17774965] [ 0. 0. 0. 1. ]] SLAMing on 2.338623853 meters Centerline goodness : 0.327296 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99999071 0.00162061 -0.00399491 0.2901736 ] [-0.00159847 0.99998338 0.00553874 -0.10811714] [ 0.00400382 -0.00553231 0.99997668 -0.17832078] [ 0. 0. 0. 1. ]] SLAMing on 2.3686238530000003 meters Centerline goodness : 0.325110 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99998933 0.00176639 -0.00426822 0.29243935] [-0.00174214 0.99998235 0.0056795 -0.1088228 ] [ 0.00427818 -0.00567201 0.99997476 -0.17884332] [ 0. 0. 0. 1. ]] SLAMing on 2.398623853 meters Centerline goodness : 0.062115 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.11, Z:-0.18 [[ 0.99998782 0.00192553 -0.00454473 0.29476898] [-0.00189883 0.99998096 0.00587138 -0.11020242] [ 0.00455595 -0.00586268 0.99997244 -0.17950392] [ 0. 0. 0. 1. ]] SLAMing on 2.4286238530000004 meters Centerline goodness : 0.321621 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.11, Z:-0.19 [[ 0.99998211 0.0046268 0.00379109 0.32425396] [-0.00463578 0.99998647 0.00236118 -0.10930719] [-0.00378012 -0.00237872 0.99999003 -0.19168458] [ 0. 0. 0. 1. ]] SLAMing on 2.458623853 meters Centerline goodness : 0.316632 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.11, Z:-0.19 [[ 0.99998248 0.00477934 0.00349205 0.32678099] [-0.00478768 0.9999857 0.00238431 -0.10918464] [-0.00348061 -0.00240099 0.99999106 -0.192452 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4886238530000004 meters Centerline goodness : 0.314760 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.11, Z:-0.19 [[ 9.99959687e-01 8.96773209e-03 -4.51614932e-04 3.53187716e-01] [-8.96715222e-03 9.99958988e-01 1.27005408e-03 -1.12024115e-01] [ 4.62985915e-04 -1.26595318e-03 9.99999092e-01 -1.91360421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5186238530000002 meters Centerline goodness : 0.091011 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 9.99958735e-01 9.05395746e-03 -7.43865168e-04 3.55697983e-01] [-9.05305574e-03 9.99958292e-01 1.20676945e-03 -1.11067540e-01] [ 7.54760182e-04 -1.19998540e-03 9.99998995e-01 -1.92348027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548623853 meters Centerline goodness : 0.313051 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 0.99995775 0.00913298 -0.00104459 0.35806782] [-0.00913175 0.99995761 0.0011757 -0.1106015 ] [ 0.00105528 -0.00116612 0.99999876 -0.19301503] [ 0. 0. 0. 1. ]] SLAMing on 2.5786238530000003 meters Centerline goodness : 0.313969 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 0.99995676 0.00920487 -0.00131951 0.36036023] [-0.00920331 0.99995694 0.00118666 -0.11068428] [ 0.00133038 -0.00117447 0.99999843 -0.19380656] [ 0. 0. 0. 1. ]] SLAMing on 2.608623853 meters Centerline goodness : 0.212900 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.11, Z:-0.19 [[ 0.99995304 0.00952599 -0.00178134 0.36493453] [-0.00952413 0.99995409 0.0010521 -0.10958541] [ 0.00179128 -0.00103509 0.99999786 -0.19496866] [ 0. 0. 0. 1. ]] SLAMing on 2.6386238530000004 meters Centerline goodness : 0.091512 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.11, Z:-0.20 [[ 9.99951566e-01 9.60803835e-03 -2.13330853e-03 3.67577762e-01] [-9.60624705e-03 9.99953499e-01 8.48348567e-04 -1.07451778e-01] [ 2.14136030e-03 -8.27814389e-04 9.99997365e-01 -1.95558476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.668623853 meters Centerline goodness : 0.049689 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.10, Z:-0.20 [[ 9.99951100e-01 9.59826503e-03 -2.38117225e-03 3.69374430e-01] [-9.59694235e-03 9.99953788e-01 5.66278464e-04 -1.04973524e-01] [ 2.38649750e-03 -5.43398801e-04 9.99997005e-01 -1.95843075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6986238530000004 meters Centerline goodness : 0.208162 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99944998e-01 1.00126208e-02 -3.12228650e-03 3.75528692e-01] [-1.00115862e-02 9.99949823e-01 3.46799821e-04 -1.02142136e-01] [ 3.12560220e-03 -3.15521705e-04 9.99995066e-01 -1.97561652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728623853 meters Centerline goodness : 0.208162 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99944998e-01 1.00126208e-02 -3.12228650e-03 3.75528692e-01] [-1.00115862e-02 9.99949823e-01 3.46799821e-04 -1.02142136e-01] [ 3.12560220e-03 -3.15521705e-04 9.99995066e-01 -1.97561652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7586238530000005 meters Centerline goodness : 0.087367 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99943863e-01 1.00294611e-02 -3.41781832e-03 3.77922679e-01] [-1.00289839e-02 9.99949696e-01 1.56730954e-04 -1.00525897e-01] [ 3.41921832e-03 -1.22444911e-04 9.99994147e-01 -1.98413072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7886238530000003 meters SLAMing on 2.818623853 meters Centerline goodness : 0.192063 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.10, Z:-0.20 [[ 9.99941790e-01 1.01251726e-02 -3.72786969e-03 3.83324232e-01] [-1.01260400e-02 9.99948707e-01 -2.13880901e-04 -9.78468740e-02] [ 3.72551290e-03 2.51617008e-04 9.99993029e-01 -1.99645251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8486238530000003 meters Centerline goodness : 0.189003 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.10, Z:-0.20 [[ 9.99942036e-01 1.00132189e-02 -3.95737989e-03 3.85017971e-01] [-1.00151940e-02 9.99949732e-01 -4.79580783e-04 -9.57154157e-02] [ 3.95237881e-03 5.19186911e-04 9.99992055e-01 -2.00080497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878623853 meters Centerline goodness : 0.050028 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.20 [[ 9.99942012e-01 9.88927825e-03 -4.26313810e-03 3.87129119e-01] [-9.89279518e-03 9.99950741e-01 -8.04663676e-04 -9.31312191e-02] [ 4.25497056e-03 8.46791367e-04 9.99990589e-01 -2.00519152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9086238530000004 meters Centerline goodness : 0.180703 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.20 [[ 0.99994223 0.00975694 -0.00450975 0.3889123 ] [-0.00976175 0.99995181 -0.00104658 -0.09127985] [ 0.00449932 0.00109055 0.99998928 -0.2008901 ] [ 0. 0. 0. 1. ]] SLAMing on 2.938623853 meters Centerline goodness : 0.175668 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.09, Z:-0.20 [[ 0.99994216 0.00948044 -0.00508002 0.3931952 ] [-0.00948708 0.99995417 -0.0012832 -0.09056722] [ 0.00506762 0.00133133 0.99998627 -0.20144697] [ 0. 0. 0. 1. ]] SLAMing on 2.9686238530000004 meters Centerline goodness : 0.173854 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.20 [[ 0.99994186 0.00935347 -0.0053657 0.39510053] [-0.00936141 0.99995512 -0.00145743 -0.08933696] [ 0.00535182 0.00150758 0.99998454 -0.20165414] [ 0. 0. 0. 1. ]] SLAMing on 2.9986238530000002 meters Centerline goodness : 0.161474 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.20 [[ 0.99994236 0.00917706 -0.00557265 0.39638034] [-0.00918694 0.99995627 -0.00175084 -0.08722735] [ 0.00555634 0.00180193 0.99998294 -0.20152759] [ 0. 0. 0. 1. ]] SLAMing on 3.0286238530000005 meters Centerline goodness : 0.167114 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.08, Z:-0.20 [[ 0.99994453 0.00582877 -0.00877301 0.4139402 ] [-0.00583913 0.99998228 -0.00115536 -0.08225634] [ 0.00876612 0.00120652 0.99996085 -0.19629703] [ 0. 0. 0. 1. ]] SLAMing on 3.0586238530000003 meters Centerline goodness : 0.164606 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.20 [[ 0.99994314 0.00569912 -0.00901298 0.41547475] [-0.00571084 0.99998288 -0.00127543 -0.0815719 ] [ 0.00900556 0.00132683 0.99995857 -0.19642843] [ 0. 0. 0. 1. ]] SLAMing on 3.088623853 meters Centerline goodness : 0.087966 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.20 [[ 0.99994177 0.005556 -0.00925136 0.41704392] [-0.00556953 0.99998346 -0.00143741 -0.08056682] [ 0.00924322 0.00148885 0.99995617 -0.19673051] [ 0. 0. 0. 1. ]] SLAMing on 3.1186238530000003 meters Centerline goodness : 0.161825 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.08, Z:-0.20 [[ 0.99993947 0.00513235 -0.0097317 0.42058827] [-0.00514868 0.99998538 -0.00165321 -0.08002852] [ 0.00972307 0.00170321 0.99995128 -0.1974318 ] [ 0. 0. 0. 1. ]] SLAMing on 3.148623853 meters Centerline goodness : 0.160149 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.21 [[ 0.99999787 0.00127821 -0.00162272 0.43952016] [-0.00127186 0.99999155 0.00390875 -0.08259978] [ 0.0016277 -0.00390668 0.99999104 -0.20670706] [ 0. 0. 0. 1. ]] SLAMing on 3.1786238530000004 meters Centerline goodness : 0.082982 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.21 [[ 0.99999754 0.00108922 -0.00193115 0.44135158] [-0.00108143 0.9999913 0.00402981 -0.08410424] [ 0.00193552 -0.00402772 0.99999002 -0.20695265] [ 0. 0. 0. 1. ]] SLAMing on 3.208623853 meters Centerline goodness : 0.082333 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.21 [[ 9.99995612e-01 -7.85558594e-04 -2.85628294e-03 4.49680607e-01] [ 7.94343545e-04 9.99994954e-01 3.07582604e-03 -8.46719201e-02] [ 2.85385229e-03 -3.07808142e-03 9.99991190e-01 -2.10961966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2386238530000004 meters Centerline goodness : 0.156654 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.09, Z:-0.21 [[ 9.99994515e-01 -9.59550510e-04 -3.17010216e-03 4.51705104e-01] [ 9.69719310e-04 9.99994385e-01 3.20774178e-03 -8.60379420e-02] [ 3.16700637e-03 -3.21079829e-03 9.99989830e-01 -2.11644868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2686238530000002 meters Centerline goodness : 0.151110 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998809 -0.00264085 -0.00410457 0.45997414] [ 0.00265019 0.99999391 0.0022712 -0.08636498] [ 0.00409854 -0.00228205 0.999989 -0.21538203] [ 0. 0. 0. 1. ]] SLAMing on 3.2986238530000005 meters Centerline goodness : 0.151395 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998669 -0.00273942 -0.00437276 0.46145097] [ 0.00274997 0.99999332 0.00240901 -0.08757666] [ 0.00436613 -0.002421 0.99998754 -0.2153852 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3286238530000003 meters Centerline goodness : 0.149879 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998542 -0.00282907 -0.00459977 0.46272194] [ 0.00284051 0.99999288 0.00248304 -0.08831776] [ 0.00459271 -0.00249607 0.99998634 -0.21546843] [ 0. 0. 0. 1. ]] SLAMing on 3.358623853 meters Centerline goodness : 0.148436 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.22 [[ 0.99998343 -0.00295326 -0.00494108 0.46466768] [ 0.00296605 0.99999226 0.00258344 -0.08943248] [ 0.00493342 -0.00259805 0.99998446 -0.21561238] [ 0. 0. 0. 1. ]] SLAMing on 3.3886238530000004 meters Centerline goodness : 0.149495 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 0.99996159 -0.0069856 -0.00529393 0.46709723] [ 0.00697587 0.99997395 -0.0018529 -0.08724605] [ 0.00530674 0.0018159 0.99998427 -0.21564553] [ 0. 0. 0. 1. ]] SLAMing on 3.418623853 meters Centerline goodness : 0.145234 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 0.9999598 -0.00703555 -0.00555911 0.46850315] [ 0.00702677 0.99997404 -0.00159741 -0.08926513] [ 0.0055702 0.00155828 0.99998327 -0.21572035] [ 0. 0. 0. 1. ]] SLAMing on 3.4486238530000004 meters Centerline goodness : 0.144341 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 0.99995798 -0.00707783 -0.00582576 0.46992159] [ 0.00707023 0.99997413 -0.00132419 -0.09130418] [ 0.00583498 0.00128294 0.99998215 -0.21579864] [ 0. 0. 0. 1. ]] SLAMing on 3.478623853 meters Centerline goodness : 0.140366 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.22 [[ 9.99952329e-01 -7.40610952e-03 -6.36307947e-03 4.73212891e-01] [ 7.40011446e-03 9.99972153e-01 -9.65191427e-04 -9.47382550e-02] [ 6.37005059e-03 9.18057899e-04 9.99979290e-01 -2.16184339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5086238530000005 meters Centerline goodness : 0.138592 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.22 [[ 9.99950412e-01 -7.36635442e-03 -6.70146160e-03 4.75011614e-01] [ 7.36276717e-03 9.99972738e-01 -5.59806965e-04 -9.75531247e-02] [ 6.70540264e-03 5.10437904e-04 9.99977388e-01 -2.16303330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5386238530000003 meters Centerline goodness : 0.137101 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.10, Z:-0.22 [[ 9.99949466e-01 -7.26339720e-03 -6.95047519e-03 4.76236704e-01] [ 7.26285446e-03 9.99973620e-01 -1.03324063e-04 -1.00691962e-01] [ 6.95104232e-03 5.28385519e-05 9.99975840e-01 -2.16389198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5686238530000005 meters Centerline goodness : 0.133259 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 9.99946208e-01 -7.19404221e-03 -7.47173733e-03 4.79495843e-01] [ 7.19864427e-03 9.99973916e-01 5.89218147e-04 -1.05938798e-01] [ 7.46730358e-03 -6.42972831e-04 9.99971913e-01 -2.16736735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5986238530000003 meters Centerline goodness : 0.128504 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 9.99945717e-01 -7.03336391e-03 -7.68736139e-03 4.80519188e-01] [ 7.04068269e-03 9.99974786e-01 9.25406611e-04 -1.07963879e-01] [ 7.68065884e-03 -9.79480649e-04 9.99970024e-01 -2.16666094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.628623853 meters Centerline goodness : 0.129795 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 0.99994509 -0.00686229 -0.00791972 0.48160407] [ 0.00687262 0.99997557 0.00127758 -0.11004793] [ 0.00791076 -0.00133194 0.99996782 -0.216626 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6586238530000004 meters Centerline goodness : 0.124196 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 0.99994492 -0.00652427 -0.00822197 0.48363001] [ 0.00653995 0.99997684 0.00188165 -0.11362542] [ 0.0082095 -0.00193532 0.99996443 -0.21679827] [ 0. 0. 0. 1. ]] SLAMing on 3.688623853 meters Centerline goodness : 0.123990 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.22 [[ 0.99994383 -0.00634605 -0.00848935 0.48478932] [ 0.00636411 0.99997754 0.00210183 -0.11472076] [ 0.00847582 -0.00215574 0.99996176 -0.21669456] [ 0. 0. 0. 1. ]] SLAMing on 3.7186238530000004 meters Centerline goodness : 0.119289 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.22 [[ 0.99994342 -0.00611919 -0.00870158 0.48583173] [ 0.00614024 0.99997828 0.00239481 -0.11617919] [ 0.00868674 -0.0024481 0.99995927 -0.21677973] [ 0. 0. 0. 1. ]] SLAMing on 3.7486238530000002 meters Centerline goodness : 0.118581 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.22 [[ 0.99994393 -0.00558756 -0.00899494 0.48778596] [ 0.00561597 0.99997931 0.0031367 -0.12025057] [ 0.00897723 -0.00318704 0.99995463 -0.21702982] [ 0. 0. 0. 1. ]] SLAMing on 3.7786238530000005 meters Centerline goodness : 0.118587 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.22 [[ 0.99994314 -0.00537269 -0.00921196 0.48879036] [ 0.00540408 0.99997966 0.00338612 -0.12144307] [ 0.00919358 -0.00343571 0.99995184 -0.21706656] [ 0. 0. 0. 1. ]] SLAMing on 3.8086238530000003 meters Centerline goodness : 0.110806 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.21 [[ 0.99993496 -0.00179937 -0.01126234 0.5092239 ] [ 0.00176674 0.99999422 -0.002906 -0.12074994] [ 0.0112675 0.00288591 0.99993236 -0.21192319] [ 0. 0. 0. 1. ]] SLAMing on 3.8386238530000005 meters Centerline goodness : 0.113740 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.21 [[ 9.99931993e-01 -7.42599962e-04 -1.16386208e-02 5.11347438e-01] [ 7.13919358e-04 9.99996699e-01 -2.46822239e-03 -1.20866046e-01] [ 1.16404153e-02 2.45974550e-03 9.99929223e-01 -2.12165612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8686238530000003 meters Centerline goodness : 0.109869 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.21 [[ 9.99928845e-01 -5.06087642e-04 -1.19184646e-02 5.12602898e-01] [ 4.76996854e-04 9.99996901e-01 -2.44353296e-03 -1.20382158e-01] [ 1.19196643e-02 2.43767402e-03 9.99925987e-01 -2.12363084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.898623853 meters Centerline goodness : 0.110722 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.12, Z:-0.22 [[ 0.99999668 0.00120803 0.00227822 0.51434516] [-0.00120494 0.99999836 -0.00135574 -0.12193538] [-0.00227985 0.00135299 0.99999649 -0.21933913] [ 0. 0. 0. 1. ]] SLAMing on 3.9286238530000004 meters Centerline goodness : 0.108349 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.22 [[ 9.99996332e-01 1.91435233e-03 1.91606162e-03 5.16316979e-01] [-1.91255904e-03 9.99997732e-01 -9.37321176e-04 -1.23042212e-01] [-1.91785163e-03 9.33653157e-04 9.99997725e-01 -2.19639539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958623853 meters Centerline goodness : 0.108634 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.22 [[ 9.99996375e-01 2.05071519e-03 1.74473529e-03 5.17070245e-01] [-2.04936884e-03 9.99997601e-01 -7.73098419e-04 -1.23821567e-01] [-1.74631651e-03 7.69520011e-04 9.99998179e-01 -2.19762070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9886238530000004 meters Centerline goodness : 0.109397 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.22 [[ 9.99996420e-01 2.17020682e-03 1.56561020e-03 5.17772969e-01] [-2.16930166e-03 9.99997479e-01 -5.79618445e-04 -1.24852423e-01] [-1.56686415e-03 5.76220089e-04 9.99998606e-01 -2.19809578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.018623853 meters Centerline goodness : 0.107888 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.22 [[ 9.99996317e-01 2.44358335e-03 1.18121963e-03 5.19831958e-01] [-2.44328520e-03 9.99996983e-01 -2.53780488e-04 -1.26278383e-01] [-1.18183620e-03 2.50893497e-04 9.99999270e-01 -2.19944299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0486238530000005 meters Centerline goodness : 0.106588 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.22 [[ 9.99996353e-01 2.51322212e-03 9.88977397e-04 5.20648325e-01] [-2.51307306e-03 9.99996831e-01 -1.51942576e-04 -1.26840840e-01] [-9.89356128e-04 1.49456649e-04 9.99999499e-01 -2.19956990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078623853000001 meters Centerline goodness : 0.107065 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.22 [[ 9.99996252e-01 2.61607236e-03 8.08020406e-04 5.21322992e-01] [-2.61617510e-03 9.99996570e-01 1.26113171e-04 -1.28424105e-01] [-8.07687713e-04 -1.28226621e-04 9.99999666e-01 -2.19924796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108623853 meters Centerline goodness : 0.106722 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99998534e-01 1.68591843e-03 2.99279452e-04 5.26627303e-01] [-1.68571026e-03 9.99998338e-01 -6.94474553e-04 -1.30068090e-01] [-3.00449782e-04 6.93969037e-04 9.99999714e-01 -2.23324474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138623853 meters Centerline goodness : 0.104614 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99998465e-01 1.74641710e-03 1.38650433e-04 5.27284606e-01] [-1.74633735e-03 9.99998311e-01 -5.73212407e-04 -1.30792656e-01] [-1.39651267e-04 5.72969397e-04 9.99999826e-01 -2.23331447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168623853000001 meters Centerline goodness : 0.104414 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99998377e-01 1.79923559e-03 -9.27676584e-05 5.28313728e-01] [-1.79928379e-03 9.99998245e-01 -5.22155589e-04 -1.30997760e-01] [ 9.18280146e-05 5.22321657e-04 9.99999859e-01 -2.23521051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198623853 meters Centerline goodness : 0.102790 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998526 0.0048718 -0.00239672 0.54800398] [-0.0048893 0.99996103 -0.00735016 -0.12903336] [ 0.00236082 0.00736177 0.99997011 -0.21850761] [ 0. 0. 0. 1. ]] SLAMing on 4.228623853 meters Centerline goodness : 0.103162 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998311 0.00514099 -0.00270961 0.54972519] [-0.00516051 0.99996043 -0.00724603 -0.12909631] [ 0.00267225 0.00725989 0.99997008 -0.21880567] [ 0. 0. 0. 1. ]] SLAMing on 4.2586238530000005 meters Centerline goodness : 0.099085 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998216 0.00522729 -0.00289062 0.55024249] [-0.00524789 0.99996056 -0.00716456 -0.12935829] [ 0.00285305 0.0071796 0.99997016 -0.21856431] [ 0. 0. 0. 1. ]] SLAMing on 4.288623853000001 meters Centerline goodness : 0.099898 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998126 0.00528969 -0.00308159 0.55089855] [-0.00531163 0.99996028 -0.00715767 -0.12915372] [ 0.00304361 0.00717391 0.99996964 -0.21842843] [ 0. 0. 0. 1. ]] SLAMing on 4.318623853 meters Centerline goodness : 0.098610 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99998006 0.00541551 -0.00324817 0.55172808] [-0.00543901 0.99995879 -0.0072687 -0.12787675] [ 0.00320868 0.00728622 0.99996831 -0.21833052] [ 0. 0. 0. 1. ]] SLAMing on 4.348623853 meters Centerline goodness : 0.098758 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99997961 0.00541308 -0.00338907 0.55223997] [-0.00543782 0.99995832 -0.00733398 -0.12739382] [ 0.00334923 0.00735226 0.99996736 -0.21832983] [ 0. 0. 0. 1. ]] SLAMing on 4.378623853000001 meters Centerline goodness : 0.098447 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.9999793 0.00538492 -0.003522 0.5526622 ] [-0.00541103 0.99995764 -0.0074452 -0.12672619] [ 0.00348176 0.00746411 0.99996608 -0.21819954] [ 0. 0. 0. 1. ]] SLAMing on 4.408623853000001 meters Centerline goodness : 0.098107 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.13, Z:-0.22 [[ 0.99997921 0.00531417 -0.00365321 0.55347638] [-0.00534182 0.99995685 -0.00759962 -0.12590117] [ 0.00361267 0.00761898 0.99996445 -0.21829456] [ 0. 0. 0. 1. ]] SLAMing on 4.438623853 meters Centerline goodness : 0.097892 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99984550e-01 1.35421927e-03 -5.39127309e-03 5.36995740e-01] [-1.35477384e-03 9.99999077e-01 -9.92149933e-05 -1.28584199e-01] [ 5.39113376e-03 1.06517416e-04 9.99985462e-01 -2.20857673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468623853 meters Centerline goodness : 0.097103 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99983212e-01 1.33593408e-03 -5.63840570e-03 5.37823170e-01] [-1.33499871e-03 9.99999094e-01 1.69653190e-04 -1.30463264e-01] [ 5.63862724e-03 -1.62123077e-04 9.99984090e-01 -2.20788586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498623853000001 meters Centerline goodness : 0.097096 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99987042e-01 -4.17382560e-04 -5.07360257e-03 5.33866965e-01] [ 4.10604335e-04 9.99999022e-01 -1.33694681e-03 -1.29880863e-01] [ 5.07415562e-03 1.33484625e-03 9.99986235e-01 -2.18111998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528623853 meters Centerline goodness : 0.097058 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99986218e-01 -4.74417172e-04 -5.22866175e-03 5.34393304e-01] [ 4.67690629e-04 9.99999062e-01 -1.28762270e-03 -1.30341694e-01] [ 5.22926771e-03 1.28515956e-03 9.99985501e-01 -2.18139352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558623853 meters Centerline goodness : 0.073771 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.13, Z:-0.22 [[ 9.99985608e-01 -5.25343585e-04 -5.33934231e-03 5.34740046e-01] [ 5.19059049e-04 9.99999171e-01 -1.17834193e-03 -1.31259788e-01] [ 5.33995692e-03 1.17555354e-03 9.99985051e-01 -2.18124937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5886238530000005 meters Centerline goodness : 0.096545 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99984011e-01 -6.21879985e-04 -5.62056754e-03 5.35528032e-01] [ 6.16434222e-04 9.99999339e-01 -9.70579555e-04 -1.32907212e-01] [ 5.62116741e-03 9.67099326e-04 9.99983733e-01 -2.17906217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618623853000001 meters Centerline goodness : 0.096545 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.13, Z:-0.22 [[ 9.99984011e-01 -6.21879985e-04 -5.62056754e-03 5.35528032e-01] [ 6.16434222e-04 9.99999339e-01 -9.70579555e-04 -1.32907212e-01] [ 5.62116741e-03 9.67099326e-04 9.99983733e-01 -2.17906217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648623853 meters Centerline goodness : 0.094675 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.14, Z:-0.22 [[ 9.99981817e-01 -1.34210657e-03 -5.87913275e-03 5.36800821e-01] [ 1.33807619e-03 9.99998867e-01 -6.89418770e-04 -1.36959912e-01] [ 5.88005137e-03 6.81539506e-04 9.99982480e-01 -2.18131422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678623853 meters Centerline goodness : 0.496170 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.22 [[ 9.99993145e-01 -2.79286133e-03 -2.43101696e-03 4.87375535e-01] [ 2.79162258e-03 9.99995972e-01 -5.12803832e-04 -1.39573206e-01] [ 2.43243936e-03 5.06013834e-04 9.99996914e-01 -2.17603214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708623853000001 meters Centerline goodness : 0.251439 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.22 [[ 9.99990556e-01 -3.63113852e-03 -2.38824160e-03 4.87386318e-01] [ 3.63109414e-03 9.99993407e-01 -2.29195107e-05 -1.45577439e-01] [ 2.38830907e-03 1.42473642e-05 9.99997148e-01 -2.17326025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738623853 meters Centerline goodness : 0.070763 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.22 [[ 9.99990341e-01 -3.62307610e-03 -2.48830694e-03 4.87698401e-01] [ 3.62438886e-03 9.99993295e-01 5.23264364e-04 -1.48884292e-01] [ 2.48639443e-03 -5.32277901e-04 9.99996767e-01 -2.17271635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768623853 meters Centerline goodness : 0.885878 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.22 [[ 0.99998025 -0.00533198 -0.00332628 0.49323328] [ 0.0053285 0.99998525 -0.00105301 -0.14909152] [ 0.00333184 0.00103527 0.99999391 -0.22058758] [ 0. 0. 0. 1. ]] SLAMing on 4.7986238530000005 meters Centerline goodness : 0.095117 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.22 [[ 0.99996601 -0.0070784 -0.00422836 0.49915797] [ 0.0070672 0.99997149 -0.00265792 -0.14968128] [ 0.00424706 0.00262794 0.99998753 -0.22413 ] [ 0. 0. 0. 1. ]] SLAMing on 4.828623853000001 meters Centerline goodness : 0.977625 Centerline is valid? [False, True] Translation: X:0.50, Y:-0.16, Z:-0.22 [[ 0.99996338 -0.00740317 -0.00429279 0.49933636] [ 0.0073958 0.99997116 -0.00172886 -0.15654038] [ 0.00430547 0.00169704 0.99998929 -0.22394873] [ 0. 0. 0. 1. ]] SLAMing on 4.858623853 meters Centerline goodness : 0.980347 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.16, Z:-0.23 [[ 9.99956373e-01 -8.99028070e-03 -2.53514429e-03 5.27540023e-01] [ 8.99032531e-03 9.99959586e-01 6.20059621e-06 -1.60751451e-01] [ 2.53498609e-03 -2.89920975e-05 9.99996786e-01 -2.25581944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888623853 meters Centerline goodness : 0.983763 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.17, Z:-0.23 [[ 9.99937692e-01 -1.11263764e-02 -9.03765392e-04 5.55767421e-01] [ 1.11263807e-02 9.99938100e-01 -2.00524795e-07 -1.67372285e-01] [ 9.03711680e-04 -9.85512555e-06 9.99999592e-01 -2.27106134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918623853000001 meters Centerline goodness : 0.982881 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.17, Z:-0.23 [[ 9.99928076e-01 -1.19271965e-02 -1.25855374e-03 5.83882199e-01] [ 1.19272095e-02 9.99928868e-01 2.82876666e-06 -1.71108467e-01] [ 1.25843047e-03 -1.78395973e-05 9.99999208e-01 -2.27347421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948623853000001 meters Centerline goodness : 0.982608 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.17, Z:-0.23 [[ 9.99920659e-01 -1.25354927e-02 -1.23989340e-03 6.11804704e-01] [ 1.25355034e-02 9.99921427e-01 8.29710594e-07 -1.74678786e-01] [ 1.23978558e-03 -1.63723326e-05 9.99999231e-01 -2.28280908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978623853 meters Centerline goodness : 0.985197 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.18, Z:-0.23 [[ 9.99911668e-01 -1.32877807e-02 -3.00634346e-04 6.39398278e-01] [ 1.32877811e-02 9.99911714e-01 -5.55857505e-07 -1.80300201e-01] [ 3.00615190e-04 -3.43895498e-06 9.99999955e-01 -2.29629814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0086238530000005 meters Centerline goodness : 0.987139 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.18, Z:-0.23 [[ 9.99909305e-01 -1.34675935e-02 7.69764915e-05 6.67457295e-01] [ 1.34675939e-02 9.99909308e-01 -3.60799205e-06 -1.82768959e-01] [-7.69209194e-05 4.64435295e-06 9.99999997e-01 -2.31222904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038623853000001 meters Centerline goodness : 0.986111 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.19, Z:-0.23 [[ 9.99918640e-01 -1.27533371e-02 -2.56845422e-04 6.95308011e-01] [ 1.27533374e-02 9.99918673e-01 -2.75704638e-07 -1.86192584e-01] [ 2.56828050e-04 -2.99995412e-06 9.99999967e-01 -2.31384933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068623853 meters Centerline goodness : 0.989029 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.19, Z:-0.23 [[ 9.99924686e-01 -1.21147106e-02 1.96359545e-03 7.23612656e-01] [ 1.21147515e-02 9.99926614e-01 -8.91301562e-06 -1.89511660e-01] [-1.96334337e-03 3.27008152e-05 9.99998072e-01 -2.33686430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.098623853 meters Centerline goodness : 0.987762 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.20, Z:-0.23 [[ 9.99950882e-01 -9.78088364e-03 1.60267206e-03 7.52577139e-01] [ 9.78090463e-03 9.99952166e-01 -5.26022535e-06 -1.96156321e-01] [-1.60254395e-03 2.09355495e-05 9.99998716e-01 -2.32900621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128623853000001 meters Centerline goodness : 0.990013 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.20, Z:-0.23 [[ 9.99966013e-01 -7.83716169e-03 2.55978462e-03 7.82690773e-01] [ 7.83720654e-03 9.99969289e-01 -7.49342448e-06 -1.98771537e-01] [-2.55964728e-03 2.75547306e-05 9.99996724e-01 -2.33773485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158623853000001 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.20, Z:-0.23 [[ 9.99977838e-01 -5.46607010e-03 3.80078621e-03 8.12949166e-01] [ 5.46614955e-03 9.99985060e-01 -1.05147260e-05 -2.00916148e-01] [-3.80067195e-03 3.12901588e-05 9.99992777e-01 -2.34391912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188623853 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.20, Z:-0.24 [[ 9.99984990e-01 -4.38006073e-05 5.47876894e-03 8.44368529e-01] [ 4.38826153e-05 9.99999999e-01 -1.48481109e-05 -2.04440800e-01] [-5.47876829e-03 1.50883108e-05 9.99984991e-01 -2.37075232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218623853 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.21, Z:-0.24 [[ 9.99984120e-01 2.50621731e-03 5.04773198e-03 8.75819154e-01] [-2.50618058e-03 9.99996859e-01 -1.36008057e-05 -2.06162556e-01] [-5.04775021e-03 9.50061872e-07 9.99987260e-01 -2.36828403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248623853000001 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.21, Z:-0.24 [[ 9.99959720e-01 5.20335816e-03 7.31318893e-03 9.07645934e-01] [-5.20335024e-03 9.99986462e-01 -2.01101437e-05 -2.07608254e-01] [-7.31319457e-03 -1.79437497e-05 9.99973258e-01 -2.39229510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278623853 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.21, Z:-0.24 [[ 9.99943482e-01 7.78543815e-03 7.24013882e-03 9.39844409e-01] [-7.78550634e-03 9.99969692e-01 -1.87666076e-05 -2.09151060e-01] [-7.24006550e-03 -3.76025998e-05 9.99973790e-01 -2.40319797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308623853 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.21, Z:-0.24 [[ 9.99911628e-01 1.18019288e-02 6.11966774e-03 9.73244250e-01] [-1.18020504e-02 9.99930353e-01 -1.62509114e-05 -2.12988280e-01] [-6.11943331e-03 -5.59751517e-05 9.99981275e-01 -2.41839358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3386238530000005 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.21, Z:-0.25 [[ 9.99888828e-01 1.32037758e-02 6.92763194e-03 1.00649105e+00] [-1.32039537e-02 9.99912824e-01 -2.00561861e-05 -2.14080932e-01] [-6.92729283e-03 -7.14181752e-05 9.99976003e-01 -2.45298169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368623853000001 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.22, Z:-0.25 [[ 9.99876155e-01 1.42568316e-02 6.66467733e-03 1.03935181e+00] [-1.42570127e-02 9.99898363e-01 -2.03428106e-05 -2.15705431e-01] [-6.66428998e-03 -7.46780981e-05 9.99977791e-01 -2.46644881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398623853 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.22, Z:-0.25 [[ 9.99848991e-01 1.58108202e-02 7.21197077e-03 1.07259159e+00] [-1.58110617e-02 9.99874997e-01 -2.35357326e-05 -2.19551447e-01] [-7.21144137e-03 -9.04967363e-05 9.99973993e-01 -2.47590890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428623853 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.22, Z:-0.25 [[ 9.99827491e-01 1.67597237e-02 8.00624854e-03 1.10597268e+00] [-1.67600376e-02 9.99859540e-01 -2.78889746e-05 -2.21630769e-01] [-8.00559140e-03 -1.06300863e-04 9.99967949e-01 -2.50159981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458623853000001 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.23, Z:-0.25 [[ 9.99792863e-01 1.84932858e-02 8.49880197e-03 1.13928671e+00] [-1.84936890e-02 9.99828977e-01 -3.11529805e-05 -2.25133022e-01] [-8.49792459e-03 -1.26027673e-04 9.99963884e-01 -2.52646512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488623853000001 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.23, Z:-0.25 [[ 9.99780406e-01 1.93802595e-02 7.97157839e-03 1.17090708e+00] [-1.93806314e-02 9.99812177e-01 -3.05935587e-05 -2.26920561e-01] [-7.97067406e-03 -1.23907382e-04 9.99968226e-01 -2.51608129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518623853 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.23, Z:-0.25 [[ 9.99755526e-01 2.04927257e-02 8.30281046e-03 1.20411128e+00] [-2.04931551e-02 9.99789993e-01 -3.33623786e-05 -2.27190995e-01] [-8.30175050e-03 -1.36796560e-04 9.99965531e-01 -2.54094107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5486238530000005 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.23, Z:-0.26 [[ 9.99720559e-01 2.25431626e-02 7.11406890e-03 1.23719176e+00] [-2.25435248e-02 9.99745862e-01 -2.92724816e-05 -2.27462157e-01] [-7.11292084e-03 -1.31111887e-04 9.99974694e-01 -2.55643508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578623853000001 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.23, Z:-0.26 [[ 9.99692097e-01 2.36918673e-02 7.37609330e-03 1.26891142e+00] [-2.36922762e-02 9.99719298e-01 -3.19567074e-05 -2.28189803e-01] [-7.37477994e-03 -1.42809572e-04 9.99972796e-01 -2.56949580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608623853 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.23, Z:-0.26 [[ 9.99656335e-01 2.50010239e-02 7.88418740e-03 1.30087142e+00] [-2.50015191e-02 9.99687413e-01 -3.57495435e-05 -2.29305128e-01] [-7.88261668e-03 -1.61379405e-04 9.99968919e-01 -2.58091617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638623853 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.23, Z:-0.25 [[ 9.99636954e-01 2.52360319e-02 9.43938939e-03 1.33334571e+00] [-2.52367313e-02 9.99681502e-01 -4.50238035e-05 -2.31272636e-01] [-9.43751919e-03 -1.93211876e-04 9.99955447e-01 -2.54994256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668623853000001 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.23, Z:-0.26 [[ 9.99590467e-01 2.69911080e-02 9.50670593e-03 1.36600662e+00] [-2.69918829e-02 9.99635652e-01 -4.68091205e-05 -2.30456769e-01] [-9.50450560e-03 -2.09813943e-04 9.99954809e-01 -2.59620192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698623853000001 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.23, Z:-0.26 [[ 9.99578068e-01 2.72853952e-02 9.95957006e-03 1.39862821e+00] [-2.72862408e-02 9.99627660e-01 -5.09990780e-05 -2.30462399e-01] [-9.95725324e-03 -2.20781667e-04 9.99950401e-01 -2.60267422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728623853 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.23, Z:-0.26 [[ 9.99571202e-01 2.74352219e-02 1.02333110e-02 1.43208114e+00] [-2.74361032e-02 9.99623558e-01 -5.42816886e-05 -2.30806710e-01] [-1.02309480e-02 -2.26503764e-04 9.99947637e-01 -2.60872616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7586238530000005 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.23, Z:-0.26 [[ 9.99559540e-01 2.75828949e-02 1.09503806e-02 1.46394098e+00] [-2.75838871e-02 9.99619490e-01 -6.04445168e-05 -2.30795783e-01] [-1.09478811e-02 -2.41636169e-04 9.99940041e-01 -2.62087306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788623853000001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.23, Z:-0.26 [[ 9.99562258e-01 2.73837558e-02 1.11992464e-02 1.49703534e+00] [-2.73847601e-02 9.99624965e-01 -6.36843257e-05 -2.30642984e-01] [-1.11967902e-02 -2.43032229e-04 9.99937284e-01 -2.62492315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818623853 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.23, Z:-0.26 [[ 9.99598893e-01 2.59675956e-02 1.13020926e-02 1.53032225e+00] [-2.59685038e-02 9.99662759e-01 -6.64153318e-05 -2.29555225e-01] [-1.13000057e-02 -2.27109742e-04 9.99936127e-01 -2.63895686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848623853 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.23, Z:-0.26 [[ 9.99629849e-01 2.48195515e-02 1.11424491e-02 1.56187505e+00] [-2.48203389e-02 9.99691926e-01 -6.76335413e-05 -2.29010763e-01] [-1.11406950e-02 -2.08950855e-04 9.99937919e-01 -2.64063655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878623853000001 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.23, Z:-0.27 [[ 9.99656780e-01 2.35437334e-02 1.14897563e-02 1.59466032e+00] [-2.35444625e-02 9.99722788e-01 -7.18210154e-05 -2.28462766e-01] [-1.14882622e-02 -1.98723773e-04 9.99933988e-01 -2.65665598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908623853000001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.23, Z:-0.27 [[ 9.99752156e-01 1.92370344e-02 1.12054527e-02 1.62729836e+00] [-1.92374355e-02 9.99814941e-01 -7.20003559e-05 -2.29018378e-01] [-1.12047641e-02 -1.43581663e-04 9.99937214e-01 -2.66900006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938623853 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.23, Z:-0.27 [[ 9.99792575e-01 1.67256297e-02 1.16215293e-02 1.65997534e+00] [-1.67258652e-02 9.99860110e-01 -7.69305462e-05 -2.29803128e-01] [-1.16211903e-02 -1.17465544e-04 9.99932465e-01 -2.67415592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968623853 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.23, Z:-0.27 [[ 9.99822480e-01 1.44101796e-02 1.21389960e-02 1.69186186e+00] [-1.44102333e-02 9.99896164e-01 -8.30517319e-05 -2.30378203e-01] [-1.21389323e-02 -9.18887759e-05 9.99926316e-01 -2.67955371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998623853000001 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.23, Z:-0.27 [[ 9.99847803e-01 1.07306355e-02 1.37558851e-02 1.72518182e+00] [-1.07303147e-02 9.99942424e-01 -9.71289704e-05 -2.31488037e-01] [-1.37561353e-02 -5.04907882e-05 9.99905379e-01 -2.65060661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028623853000001 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.23, Z:-0.27 [[ 9.99894068e-01 7.32533555e-03 1.25774140e-02 1.75692056e+00] [-7.32477164e-03 9.99973169e-01 -9.09003095e-05 -2.30936931e-01] [-1.25777424e-02 -1.23600473e-06 9.99920897e-01 -2.69558744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.058623853 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.23, Z:-0.27 [[ 9.99902504e-01 5.64632043e-03 1.27711004e-02 1.78918948e+00] [-5.64556924e-03 9.99984059e-01 -9.48707426e-05 -2.31694193e-01] [-1.27714325e-02 2.27613618e-05 9.99918442e-01 -2.70267626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0886238530000005 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.23, Z:-0.27 [[ 9.99910062e-01 4.62541353e-03 1.25886027e-02 1.82242442e+00] [-4.62457617e-03 9.99989302e-01 -9.56262057e-05 -2.32821007e-01] [-1.25889103e-02 3.74006535e-05 9.99920756e-01 -2.70462906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.118623853000001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.24, Z:-0.27 [[ 9.99923378e-01 2.80842602e-03 1.20561452e-02 1.85483368e+00] [-2.80749892e-03 9.99996055e-01 -9.38220687e-05 -2.35047445e-01] [-1.20563611e-02 5.99672653e-05 9.99927318e-01 -2.71459110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148623853 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.24, Z:-0.27 [[ 9.99922619e-01 2.27109617e-03 1.22310037e-02 1.88666128e+00] [-2.27007425e-03 9.99997419e-01 -9.74345608e-05 -2.35898898e-01] [-1.22311934e-02 6.96617348e-05 9.99925194e-01 -2.71659387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.24, Z:-0.27 [[ 9.99911690e-01 1.56408539e-03 1.31971568e-02 1.91902495e+00] [-1.56279945e-03 9.99998773e-01 -1.07753260e-04 -2.37449801e-01] [-1.31973091e-02 8.71192347e-05 9.99912908e-01 -2.71911625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208623853000001 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.24, Z:-0.27 [[ 9.99906380e-01 1.55886611e-03 1.35941881e-02 1.95179143e+00] [-1.55746877e-03 9.99998781e-01 -1.13376101e-04 -2.38660451e-01] [-1.35943482e-02 9.21929630e-05 9.99907588e-01 -2.72955296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238623853000001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.24, Z:-0.28 [[ 9.99889550e-01 8.07899172e-04 1.48403456e-02 1.98501065e+00] [-8.06104054e-04 9.99999667e-01 -1.26943417e-04 -2.40049270e-01] [-1.48404432e-02 1.14966533e-04 9.99889868e-01 -2.75015908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.24, Z:-0.28 [[ 9.99903752e-01 5.74134809e-04 1.38620639e-02 2.01720235e+00] [-5.72510210e-04 9.99999829e-01 -1.21165485e-04 -2.42104263e-01] [-1.38621311e-02 1.13217650e-04 9.99903910e-01 -2.75403328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2986238530000005 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.25, Z:-0.27 [[ 9.99890540e-01 -7.79051927e-04 1.47749835e-02 2.05046455e+00] [ 7.81089453e-04 9.99999686e-01 -1.32133654e-04 -2.45503215e-01] [-1.47748759e-02 1.43659775e-04 9.99890835e-01 -2.72171706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328623853000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.25, Z:-0.28 [[ 9.99899812e-01 -3.54659794e-04 1.41506593e-02 2.08299607e+00] [ 3.56528902e-04 9.99999928e-01 -1.29563836e-04 -2.47093767e-01] [-1.41506123e-02 1.34595974e-04 9.99899866e-01 -2.77440607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358623853 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.25, Z:-0.28 [[ 9.99904754e-01 -9.87705201e-04 1.37661991e-02 2.11570784e+00] [ 9.89537555e-04 9.99999502e-01 -1.26294572e-04 -2.51655492e-01] [-1.37660675e-02 1.39904714e-04 9.99905233e-01 -2.78304450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.25, Z:-0.28 [[ 9.99924183e-01 -5.45955904e-04 1.23016664e-02 2.14743949e+00] [ 5.47411630e-04 9.99999844e-01 -1.14968799e-04 -2.54205269e-01] [-1.23016017e-02 1.21694158e-04 9.99924325e-01 -2.77949033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418623853000001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.26, Z:-0.28 [[ 9.99920187e-01 9.43482409e-05 1.26337226e-02 2.17942683e+00] [-9.28226318e-05 9.99999988e-01 -1.21343214e-04 -2.56319577e-01] [-1.26337339e-02 1.20160834e-04 9.99920184e-01 -2.78413564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448623853000001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.26, Z:-0.28 [[ 9.99892335e-01 2.72087199e-03 1.44192744e-02 2.21090615e+00] [-2.71914305e-03 9.99996293e-01 -1.39508367e-04 -2.59171927e-01] [-1.44196006e-02 1.00285277e-04 9.99896027e-01 -2.79527099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.26, Z:-0.28 [[ 9.99869663e-01 5.07940093e-03 1.53250612e-02 2.24355516e+00] [-5.07771103e-03 9.99987097e-01 -1.49179180e-04 -2.60716962e-01] [-1.53256212e-02 7.13435046e-05 9.99882553e-01 -2.79994156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5086238530000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.26, Z:-0.28 [[ 9.99833135e-01 1.07368052e-02 1.47791793e-02 2.27556962e+00] [-1.07358356e-02 9.99942359e-01 -1.44949508e-04 -2.63507160e-01] [-1.47798837e-02 -1.37415178e-05 9.99890771e-01 -2.79250026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538623853000001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.26, Z:-0.28 [[ 9.99831779e-01 1.08622692e-02 1.47791734e-02 2.30904230e+00] [-1.08613043e-02 9.99941004e-01 -1.45552746e-04 -2.64001069e-01] [-1.47798825e-02 -1.49928389e-05 9.99890771e-01 -2.79896334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568623853000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.26, Z:-0.28 [[ 9.99773021e-01 1.46094099e-02 1.55071610e-02 2.34184261e+00] [-1.46087703e-02 9.99893274e-01 -1.54530004e-04 -2.64711079e-01] [-1.55077636e-02 -7.20456235e-05 9.99879745e-01 -2.81244716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.26, Z:-0.28 [[ 9.99715667e-01 1.82285666e-02 1.53721697e-02 2.37415984e+00] [-1.82283198e-02 9.99833838e-01 -1.56180849e-04 -2.64855814e-01] [-1.53724624e-02 -1.24072383e-04 9.99881829e-01 -2.82149119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628623853000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.27, Z:-0.28 [[ 9.99644679e-01 2.19049909e-02 1.51883655e-02 2.40713629e+00] [-2.19051337e-02 9.99760041e-01 -1.56978261e-04 -2.65483573e-01] [-1.51881595e-02 -1.75780695e-04 9.99884638e-01 -2.83125058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658623853000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.27, Z:-0.28 [[ 9.99493238e-01 2.83261091e-02 1.45223773e-02 2.44058308e+00] [-2.83268800e-02 9.99598702e-01 -1.52651898e-04 -2.65537017e-01] [-1.45208735e-02 -2.58799099e-04 9.99894533e-01 -2.84744132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.27, Z:-0.29 [[ 9.99417107e-01 3.10223838e-02 1.42498555e-02 2.47308875e+00] [-3.10233627e-02 9.99518648e-01 -1.52403768e-04 -2.65454353e-01] [-1.42477242e-02 -2.89763501e-04 9.99898454e-01 -2.85830733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.26, Z:-0.29 [[ 9.99348387e-01 3.32895650e-02 1.39501661e-02 2.50481576e+00] [-3.32906857e-02 9.99445700e-01 -1.51937619e-04 -2.64957668e-01] [-1.39474914e-02 -3.12571979e-04 9.99902680e-01 -2.86812662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.26, Z:-0.29 [[ 9.99204209e-01 3.71208530e-02 1.45942324e-02 2.53799151e+00] [-3.71224472e-02 9.99310711e-01 -1.61746460e-04 -2.63381162e-01] [-1.45901770e-02 -3.80155879e-04 9.99893485e-01 -2.87590775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778623853000001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.26, Z:-0.29 [[ 9.99158599e-01 3.84791916e-02 1.41931657e-02 2.57050488e+00] [-3.84807989e-02 9.99259327e-01 -1.59934114e-04 -2.62478994e-01] [-1.41888073e-02 -3.86364809e-04 9.99899259e-01 -2.87949822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.26, Z:-0.29 [[ 9.99103875e-01 3.97792685e-02 1.44587885e-02 2.60315491e+00] [-3.97810317e-02 9.99208408e-01 -1.65757841e-04 -2.61407234e-01] [-1.44539368e-02 -4.09576223e-04 9.99895453e-01 -2.88575007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8386238530000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.26, Z:-0.29 [[ 9.99031748e-01 4.11009744e-02 1.56931957e-02 2.63607181e+00] [-4.11031625e-02 9.99154891e-01 -1.83222021e-04 -2.59357414e-01] [-1.56874638e-02 -4.61995356e-04 9.99876837e-01 -2.88610266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868623853000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.26, Z:-0.29 [[ 9.99006161e-01 4.15843937e-02 1.60446056e-02 2.66861709e+00] [-4.15866927e-02 9.99134881e-01 -1.90473527e-04 -2.58771122e-01] [-1.60386458e-02 -4.76957854e-04 9.99871259e-01 -2.88875396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.26, Z:-0.29 [[ 9.98999867e-01 4.16694935e-02 1.62147726e-02 2.70149473e+00] [-4.16718027e-02 9.99131334e-01 -1.95578805e-04 -2.55725311e-01] [-1.62088371e-02 -4.80315606e-04 9.99868513e-01 -2.89543180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.25, Z:-0.29 [[ 9.99002508e-01 4.16772227e-02 1.60311304e-02 2.73385854e+00] [-4.16794304e-02 9.99131016e-01 -1.96515133e-04 -2.53961239e-01] [-1.60253899e-02 -4.71849275e-04 9.99871474e-01 -2.90184280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.25, Z:-0.29 [[ 9.99011025e-01 4.15734110e-02 1.57677943e-02 2.76726369e+00] [-4.15754899e-02 9.99135346e-01 -1.96072003e-04 -2.52314220e-01] [-1.57623120e-02 -4.59675678e-04 9.99875661e-01 -2.90893614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988623853000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.25, Z:-0.29 [[ 9.99082863e-01 4.00884227e-02 1.50449672e-02 2.79938322e+00] [-4.00901052e-02 9.99196051e-01 -1.89873280e-04 -2.48708760e-01] [-1.50404836e-02 -4.13455178e-04 9.99886800e-01 -2.92343040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.25, Z:-0.29 [[ 9.99137520e-01 3.89800576e-02 1.43098499e-02 2.83219976e+00] [-3.89814326e-02 9.99239918e-01 -1.82927986e-04 -2.47312733e-01] [-1.43061038e-02 -3.75048236e-04 9.99897592e-01 -2.93514661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0486238530000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.25, Z:-0.29 [[ 9.99192528e-01 3.78114008e-02 1.35863674e-02 2.86436947e+00] [-3.78124934e-02 9.99284836e-01 -1.76539729e-04 -2.46022183e-01] [-1.35833262e-02 -3.37337251e-04 9.99907685e-01 -2.94760864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.078623853000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.24, Z:-0.30 [[ 9.99254521e-01 3.62827076e-02 1.31896871e-02 2.89689554e+00] [-3.62835900e-02 9.99341519e-01 -1.72464404e-04 -2.44686342e-01] [-1.31872595e-02 -3.06233365e-04 9.99912997e-01 -2.95236261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.24, Z:-0.30 [[ 9.99371737e-01 3.28633928e-02 1.32713657e-02 2.92960556e+00] [-3.28639508e-02 9.99459819e-01 -1.76095819e-04 -2.42676769e-01] [-1.32699839e-02 -2.60164326e-04 9.99911916e-01 -2.95774908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.24, Z:-0.30 [[ 9.99416877e-01 3.15319710e-02 1.31012007e-02 2.96200146e+00] [-3.15323661e-02 9.99502716e-01 -1.76459406e-04 -2.41874683e-01] [-1.31002498e-02 -2.36755348e-04 9.99914160e-01 -2.96676072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.24, Z:-0.30 [[ 9.99477593e-01 2.94977130e-02 1.32070764e-02 2.99544656e+00] [-2.94979052e-02 9.99564826e-01 -1.80287019e-04 -2.39305301e-01] [-1.32066470e-02 -2.09388251e-04 9.99912767e-01 -2.96403289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.198623853000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.24, Z:-0.30 [[ 9.99488629e-01 2.89681313e-02 1.35398490e-02 3.02701725e+00] [-2.89682470e-02 9.99580315e-01 -1.87616780e-04 -2.37871651e-01] [-1.35396014e-02 -2.04704852e-04 9.99908314e-01 -2.96689156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.24, Z:-0.30 [[ 9.99491317e-01 2.85123432e-02 1.42881964e-02 3.06033667e+00] [-2.85123869e-02 9.99593419e-01 -2.00684828e-04 -2.36397450e-01] [-1.42881091e-02 -2.06807841e-04 9.99897898e-01 -2.97238936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2586238530000005 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.23, Z:-0.29 [[ 9.99510306e-01 2.72882041e-02 1.53134900e-02 3.09376102e+00] [-2.72880609e-02 9.99627588e-01 -2.18336995e-04 -2.34236852e-01] [-1.53137451e-02 -1.99645372e-04 9.99882718e-01 -2.94233151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.23, Z:-0.30 [[ 9.99491635e-01 2.78499030e-02 1.55195068e-02 3.12662703e+00] [-2.78497764e-02 9.99612095e-01 -2.24316605e-04 -2.32207299e-01] [-1.55197338e-02 -2.08012223e-04 9.99879540e-01 -2.98163953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.23, Z:-0.30 [[ 9.99500548e-01 2.75046196e-02 1.55612094e-02 3.15982705e+00] [-2.75044035e-02 9.99621656e-01 -2.27943752e-04 -2.31198932e-01] [-1.55615914e-02 -2.00171875e-04 9.99878891e-01 -2.98941049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.23, Z:-0.30 [[ 9.99511134e-01 2.71838819e-02 1.54444232e-02 3.19143775e+00] [-2.71835832e-02 9.99630432e-01 -2.29308553e-04 -2.29623090e-01] [-1.54449489e-02 -1.90638310e-04 9.99880701e-01 -2.99981940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.23, Z:-0.30 [[ 9.99534347e-01 2.67313824e-02 1.47147031e-02 3.22357827e+00] [-2.67310243e-02 9.99642638e-01 -2.21053065e-04 -2.25617771e-01] [-1.47153537e-02 -1.72388956e-04 9.99891708e-01 -3.00942437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.22, Z:-0.30 [[ 9.99551440e-01 2.60272528e-02 1.48155601e-02 3.25635305e+00] [-2.60267745e-02 9.99661221e-01 -2.25129734e-04 -2.24021625e-01] [-1.48164004e-02 -1.60572492e-04 9.99890218e-01 -3.02173572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.22, Z:-0.30 [[ 9.99597644e-01 2.44705453e-02 1.43436990e-02 3.28809105e+00] [-2.44698920e-02 9.99700543e-01 -2.21074722e-04 -2.20914452e-01] [-1.43448135e-02 -1.30002993e-04 9.99897099e-01 -3.02778546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.22, Z:-0.30 [[ 9.99622141e-01 2.36484393e-02 1.40116392e-02 3.32138240e+00] [-2.36477162e-02 9.99720330e-01 -2.17313379e-04 -2.19829858e-01] [-1.40128597e-02 -1.14112001e-04 9.99901809e-01 -3.03081191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498623853000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.22, Z:-0.30 [[ 9.99642989e-01 2.28971788e-02 1.37700550e-02 3.35322897e+00] [-2.28963737e-02 9.99737820e-01 -2.16136210e-04 -2.18817524e-01] [-1.37713937e-02 -9.92252775e-05 9.99905165e-01 -3.03671282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.22, Z:-0.30 [[ 9.99679717e-01 2.11580985e-02 1.38852079e-02 3.38606578e+00] [-2.11570795e-02 9.99776140e-01 -2.20285426e-04 -2.16068930e-01] [-1.38867604e-02 -7.35555762e-05 9.99903572e-01 -3.04860577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.558623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.21, Z:-0.31 [[ 9.99695661e-01 2.01975889e-02 1.41648138e-02 3.41919603e+00] [-2.01963925e-02 9.99796006e-01 -2.27521629e-04 -2.14899336e-01] [-1.41665197e-02 -5.86257544e-05 9.99899648e-01 -3.05781515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5886238530000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.21, Z:-0.31 [[ 9.99720144e-01 1.86315392e-02 1.45773787e-02 3.45228467e+00] [-1.86300631e-02 9.99826417e-01 -2.37064154e-04 -2.13096048e-01] [-1.45792652e-02 -3.45796747e-05 9.99893716e-01 -3.05764724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.21, Z:-0.31 [[ 9.99731223e-01 1.81692125e-02 1.44000417e-02 3.48393869e+00] [-1.81676831e-02 9.99834926e-01 -2.37020089e-04 -2.12715604e-01] [-1.44019711e-02 -2.46590117e-05 9.99896286e-01 -3.06320590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.21, Z:-0.31 [[ 9.99733750e-01 1.79267046e-02 1.45279721e-02 3.51682558e+00] [-1.79250842e-02 9.99839304e-01 -2.41756121e-04 -2.12074729e-01] [-1.45299714e-02 -1.87233697e-05 9.99894434e-01 -3.07439630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.21, Z:-0.31 [[ 9.99744378e-01 1.75571882e-02 1.42451282e-02 3.55015012e+00] [-1.75555546e-02 9.99845861e-01 -2.39726763e-04 -2.11319454e-01] [-1.42471414e-02 -1.04156431e-05 9.99898504e-01 -3.08059912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.21, Z:-0.31 [[ 9.99750221e-01 1.75138003e-02 1.38838788e-02 3.58253936e+00] [-1.75122066e-02 9.99846622e-01 -2.36364391e-04 -2.10900511e-01] [-1.38858889e-02 -6.83200114e-06 9.99903586e-01 -3.09151933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738623853000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.21, Z:-0.31 [[ 9.99766567e-01 1.71448272e-02 1.31478398e-02 3.61561695e+00] [-1.71433377e-02 9.99853017e-01 -2.25993076e-04 -2.10015232e-01] [-1.31497819e-02 5.42463743e-07 9.99913538e-01 -3.10093135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.21, Z:-0.31 [[ 9.99764004e-01 1.74686370e-02 1.29144284e-02 3.64808933e+00] [-1.74671936e-02 9.99847412e-01 -2.24563921e-04 -2.09711446e-01] [-1.29163807e-02 -1.06789653e-06 9.99916580e-01 -3.11072704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7986238530000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.21, Z:-0.31 [[ 9.99784844e-01 1.69544422e-02 1.19504062e-02 3.68139686e+00] [-1.69531474e-02 9.99856263e-01 -2.09656514e-04 -2.07574281e-01] [-1.19522431e-02 7.01440815e-06 9.99928569e-01 -3.12349376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.21, Z:-0.31 [[ 9.99793774e-01 1.65514540e-02 1.17668495e-02 3.71424614e+00] [-1.65501441e-02 9.99863015e-01 -2.08696251e-04 -2.07086241e-01] [-1.17686919e-02 1.39101578e-05 9.99930746e-01 -3.13336092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858623853000001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.21, Z:-0.31 [[ 9.99796964e-01 1.63925702e-02 1.17180991e-02 3.74615745e+00] [-1.63912321e-02 9.99865633e-01 -2.10224566e-04 -2.07766011e-01] [-1.17199707e-02 1.81078012e-05 9.99931319e-01 -3.11553568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.21, Z:-0.31 [[ 9.99803942e-01 1.57730473e-02 1.19702775e-02 3.77791837e+00] [-1.57715791e-02 9.99875597e-01 -2.17046314e-04 -2.06065879e-01] [-1.19722118e-02 2.82135812e-05 9.99928330e-01 -3.14178154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.21, Z:-0.31 [[ 9.99819040e-01 1.46879406e-02 1.20893498e-02 3.81050117e+00] [-1.46863284e-02 9.99892125e-01 -2.22127146e-04 -2.05259552e-01] [-1.20913083e-02 4.45387881e-05 9.99926896e-01 -3.14514353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.20, Z:-0.31 [[ 9.99819957e-01 1.37500764e-02 1.30763041e-02 3.84235426e+00] [-1.37481017e-02 9.99905461e-01 -2.40897584e-04 -2.04233309e-01] [-1.30783802e-02 6.10798524e-05 9.99914472e-01 -3.14644502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.20, Z:-0.32 [[ 9.99817153e-01 1.32829115e-02 1.37559040e-02 3.87560626e+00] [-1.32806464e-02 9.99911776e-01 -2.55999666e-04 -2.04091724e-01] [-1.37580908e-02 7.32655590e-05 9.99905350e-01 -3.15090247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.20, Z:-0.32 [[ 9.99820084e-01 1.27932884e-02 1.40047066e-02 3.90721574e+00] [-1.27908530e-02 9.99918159e-01 -2.63460292e-04 -2.03591902e-01] [-1.40069310e-02 8.42807480e-05 9.99901895e-01 -3.15592748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038623852999999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.20, Z:-0.32 [[ 9.99818545e-01 1.24068496e-02 1.44549876e-02 3.94034743e+00] [-1.24041767e-02 9.99923028e-01 -2.74557945e-04 -2.03164689e-01] [-1.44572814e-02 9.52059038e-05 9.99895484e-01 -3.16037156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.20, Z:-0.32 [[ 9.99822115e-01 1.13591820e-02 1.50567953e-02 3.97305597e+00] [-1.13561169e-02 9.99935475e-01 -2.89057646e-04 -2.03034723e-01] [-1.50591072e-02 1.18019501e-04 9.99886598e-01 -3.16218716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.20, Z:-0.32 [[ 9.99822472e-01 1.12532752e-02 1.51125144e-02 4.00503365e+00] [-1.12501289e-02 9.99936672e-01 -2.93189047e-04 -2.03092152e-01] [-1.51148567e-02 1.23119262e-04 9.99885756e-01 -3.16802375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128623853 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.20, Z:-0.31 [[ 9.99836460e-01 1.09663348e-02 1.43803171e-02 4.03839634e+00] [-1.09634215e-02 9.99939860e-01 -2.81412077e-04 -2.03508355e-01] [-1.43825384e-02 1.23708577e-04 9.99896558e-01 -3.13844346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.20, Z:-0.32 [[ 9.99829358e-01 1.17688471e-02 1.42390149e-02 4.07113751e+00] [-1.17660330e-02 9.99930738e-01 -2.81394205e-04 -2.01811195e-01] [-1.42413403e-02 1.13809469e-04 9.99898580e-01 -3.18293264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.20, Z:-0.32 [[ 9.99842404e-01 1.17357374e-02 1.33206160e-02 4.10278340e+00] [-1.17332391e-02 9.99931128e-01 -2.65694359e-04 -2.03360134e-01] [-1.33228167e-02 1.09358514e-04 9.99911241e-01 -3.16361226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.20, Z:-0.32 [[ 9.99838980e-01 1.24270055e-02 1.29453847e-02 4.13572781e+00] [-1.24246752e-02 9.99922777e-01 -2.60424075e-04 -2.03472856e-01] [-1.29476213e-02 9.95399415e-05 9.99916171e-01 -3.20139997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.20, Z:-0.32 [[ 9.99847505e-01 1.25467714e-02 1.21468421e-02 4.16836101e+00] [-1.25447032e-02 9.99921282e-01 -2.46442133e-04 -2.03666365e-01] [-1.21489779e-02 9.40260232e-05 9.99926194e-01 -3.21324056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.20, Z:-0.32 [[ 9.99843332e-01 1.24540398e-02 1.25781050e-02 4.20051547e+00] [-1.24517811e-02 9.99922440e-01 -2.57874086e-04 -2.04723706e-01] [-1.25803411e-02 1.01213875e-04 9.99920859e-01 -3.22533693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.21, Z:-0.32 [[ 9.99850131e-01 1.21029207e-02 1.23788335e-02 4.23311931e+00] [-1.21006796e-02 9.99926751e-01 -2.55924879e-04 -2.07073222e-01] [-1.23810242e-02 1.06094226e-04 9.99923347e-01 -3.20405091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.21, Z:-0.32 [[ 9.99839958e-01 1.17067956e-02 1.35281240e-02 4.26585220e+00] [-1.17040431e-02 9.99931465e-01 -2.82621958e-04 -2.08432553e-01] [-1.35305054e-02 1.24242981e-04 9.99908451e-01 -3.23318885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.21, Z:-0.32 [[ 9.99840481e-01 1.16856740e-02 1.35076812e-02 4.29919549e+00] [-1.16828928e-02 9.99931712e-01 -2.84790926e-04 -2.10065670e-01] [-1.35100868e-02 1.26936704e-04 9.99908727e-01 -3.23697334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.21, Z:-0.32 [[ 9.99839470e-01 1.17719696e-02 1.35076108e-02 4.33267407e+00] [-1.17691517e-02 9.99930700e-01 -2.88090327e-04 -2.10916626e-01] [-1.35100661e-02 1.29070959e-04 9.99908727e-01 -3.24344147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.21, Z:-0.33 [[ 9.99832356e-01 1.23887327e-02 1.34825357e-02 4.36489091e+00] [-1.23859733e-02 9.99923249e-01 -2.88151166e-04 -2.13071579e-01] [-1.34850707e-02 1.21108532e-04 9.99909065e-01 -3.25213885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.22, Z:-0.32 [[ 9.99828271e-01 1.38339877e-02 1.23308023e-02 4.39831595e+00] [-1.38317665e-02 9.99904301e-01 -2.65403787e-04 -2.17223735e-01] [-1.23332939e-02 9.48014312e-05 9.99923938e-01 -3.22220622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.22, Z:-0.33 [[ 9.99787818e-01 1.59503072e-02 1.30348216e-02 4.42986482e+00] [-1.59479675e-02 9.99872783e-01 -2.83425776e-04 -2.17737924e-01] [-1.30376841e-02 7.54867265e-05 9.99915003e-01 -3.25603150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.22, Z:-0.33 [[ 9.99747860e-01 1.80400501e-02 1.33706206e-02 4.46319811e+00] [-1.80377422e-02 9.99837264e-01 -2.93190672e-04 -2.18545643e-01] [-1.33737339e-02 5.19409385e-05 9.99910566e-01 -3.26106978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.22, Z:-0.33 [[ 9.99646669e-01 2.27035943e-02 1.38233485e-02 4.49523694e+00] [-2.27015282e-02 9.99742240e-01 -3.06375475e-04 -2.18213344e-01] [-1.38267413e-02 -7.54391402e-06 9.99904406e-01 -3.26431594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.22, Z:-0.33 [[ 9.99583377e-01 2.51329264e-02 1.41918184e-02 4.52790034e+00] [-2.51309729e-02 9.99684117e-01 -3.15993022e-04 -2.18188959e-01] [-1.41952773e-02 -4.07928332e-05 9.99899241e-01 -3.27128231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.22, Z:-0.33 [[ 9.99527437e-01 2.71787117e-02 1.43604037e-02 4.55962318e+00] [-2.71768815e-02 9.99630588e-01 -3.22609769e-04 -2.18013625e-01] [-1.43638670e-02 -6.78136756e-05 9.99896832e-01 -3.27797262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.22, Z:-0.33 [[ 9.99412110e-01 3.11584999e-02 1.43032500e-02 4.59303098e+00] [-3.11570561e-02 9.99514449e-01 -3.23815863e-04 -2.16853224e-01] [-1.43063947e-02 -1.22021669e-04 9.99897651e-01 -3.28513693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.22, Z:-0.33 [[ 9.99351062e-01 3.30211190e-02 1.43895735e-02 4.62568243e+00] [-3.30198112e-02 9.99454643e-01 -3.28519847e-04 -2.17175017e-01] [-1.43925742e-02 -1.46834344e-04 9.99896411e-01 -3.29480142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.22, Z:-0.33 [[ 9.99254112e-01 3.57709121e-02 1.45486073e-02 4.65778132e+00] [-3.57698194e-02 9.99359999e-01 -3.35398917e-04 -2.17140914e-01] [-1.45512937e-02 -1.85252307e-04 9.99894107e-01 -3.30015340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.22, Z:-0.33 [[ 9.99211644e-01 3.69503480e-02 1.45176279e-02 4.68930499e+00] [-3.69493625e-02 9.99317083e-01 -3.36196563e-04 -2.16494905e-01] [-1.45201362e-02 -2.00485575e-04 9.99894557e-01 -3.30399345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.22, Z:-0.33 [[ 9.99164459e-01 3.80910279e-02 1.48140852e-02 4.72250955e+00] [-3.80900880e-02 9.99274249e-01 -3.45696632e-04 -2.15297553e-01] [-1.48165018e-02 -2.18862020e-04 9.99890206e-01 -3.31094243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.21, Z:-0.33 [[ 9.99117227e-01 3.90292598e-02 1.55397234e-02 4.75508096e+00] [-3.90282914e-02 9.99238039e-01 -3.65693262e-04 -2.13919383e-01] [-1.55421555e-02 -2.41118417e-04 9.99879184e-01 -3.32531094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.21, Z:-0.33 [[ 9.99070291e-01 4.03973683e-02 1.50534643e-02 4.78789362e+00] [-4.03965741e-02 9.99183661e-01 -3.56954130e-04 -2.11734171e-01] [-1.50555956e-02 -2.51486120e-04 9.99886626e-01 -3.33005658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.21, Z:-0.33 [[ 9.99064615e-01 4.07049378e-02 1.45946184e-02 4.82094235e+00] [-4.07041857e-02 9.99171180e-01 -3.48697882e-04 -2.10940112e-01] [-1.45967158e-02 -2.45690342e-04 9.99893432e-01 -3.33435320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.21, Z:-0.33 [[ 9.99048483e-01 4.09546123e-02 1.49949544e-02 4.85309682e+00] [-4.09537997e-02 9.99160976e-01 -3.61385735e-04 -2.10134671e-01] [-1.49971737e-02 -2.53058489e-04 9.99887504e-01 -3.34117993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.21, Z:-0.33 [[ 9.99062871e-01 4.07677003e-02 1.45387150e-02 4.88533834e+00] [-4.07668786e-02 9.99168623e-01 -3.53006345e-04 -2.08250714e-01] [-1.45410191e-02 -2.40022498e-04 9.99894245e-01 -3.32163563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.21, Z:-0.34 [[ 9.99055494e-01 4.10244177e-02 1.43219199e-02 4.91859390e+00] [-4.10236124e-02 9.99158116e-01 -3.50127572e-04 -2.06720849e-01] [-1.43242263e-02 -2.37740018e-04 9.99897375e-01 -3.35144523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.20, Z:-0.34 [[ 9.99082076e-01 4.02564930e-02 1.46430621e-02 4.95203870e+00] [-4.02555269e-02 9.99189353e-01 -3.60838031e-04 -2.02299052e-01] [-1.46457179e-02 -2.28957372e-04 9.99892720e-01 -3.36665172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.20, Z:-0.34 [[ 9.99101834e-01 3.97251461e-02 1.47457739e-02 4.98357652e+00] [-3.97240614e-02 9.99210621e-01 -3.66564908e-04 -2.01136862e-01] [-1.47486957e-02 -2.19526355e-04 9.99891208e-01 -3.37085890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.20, Z:-0.34 [[ 9.99126139e-01 3.90659731e-02 1.48596389e-02 5.01617979e+00] [-3.90647767e-02 9.99236611e-01 -3.70871707e-04 -1.99985637e-01] [-1.48627837e-02 -2.09940861e-04 9.99889521e-01 -3.37232787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.20, Z:-0.34 [[ 9.99157734e-01 3.83005091e-02 1.47273277e-02 5.04807723e+00] [-3.82992086e-02 9.99266248e-01 -3.70440714e-04 -1.99049977e-01] [-1.47307095e-02 -1.93916290e-04 9.99891478e-01 -3.35184411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.19, Z:-0.34 [[ 9.99211720e-01 3.66904577e-02 1.51574877e-02 5.07969366e+00] [-3.66888517e-02 9.99326664e-01 -3.84110707e-04 -1.94131695e-01] [-1.51613748e-02 -1.72302897e-04 9.99885045e-01 -3.38709750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118623852999999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.19, Z:-0.34 [[ 9.99245728e-01 3.57884955e-02 1.50718041e-02 5.11283661e+00] [-3.57867653e-02 9.99359375e-01 -3.84568382e-04 -1.92295558e-01] [-1.50759118e-02 -1.55092801e-04 9.99886340e-01 -3.39437541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.19, Z:-0.34 [[ 9.99280863e-01 3.49162240e-02 1.47855874e-02 5.14580819e+00] [-3.49144237e-02 9.99390233e-01 -3.79949951e-04 -1.90038145e-01] [-1.47898381e-02 -1.36553547e-04 9.99890615e-01 -3.39605226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.18, Z:-0.34 [[ 9.99357867e-01 3.28231519e-02 1.43698930e-02 5.17839149e+00] [-3.28211957e-02 9.99461170e-01 -3.72005671e-04 -1.84463120e-01] [-1.43743605e-02 -9.98702783e-05 9.99896679e-01 -3.41333485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.18, Z:-0.34 [[ 9.99394286e-01 3.17878780e-02 1.41630144e-02 5.21109360e+00] [-3.17858388e-02 9.99494634e-01 -3.69118851e-04 -1.82808474e-01] [-1.41675904e-02 -8.12880225e-05 9.99899631e-01 -3.42026991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.18, Z:-0.34 [[ 9.99434577e-01 3.06986323e-02 1.37156686e-02 5.24457513e+00] [-3.06965834e-02 9.99528684e-01 -3.59932634e-04 -1.81012602e-01] [-1.37202536e-02 -6.12950443e-05 9.99905871e-01 -3.42224901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.18, Z:-0.34 [[ 9.99509998e-01 2.84400261e-02 1.30739418e-02 5.27626095e+00] [-2.84379403e-02 9.99595500e-01 -3.45454569e-04 -1.75386580e-01] [-1.30784781e-02 -2.65106793e-05 9.99914473e-01 -3.42780874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.17, Z:-0.34 [[ 9.99535554e-01 2.73377962e-02 1.34655757e-02 5.30869892e+00] [-2.73354413e-02 9.99626253e-01 -3.58939381e-04 -1.73500568e-01] [-1.34703556e-02 -9.31478183e-06 9.99909271e-01 -3.44390910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.17, Z:-0.34 [[ 9.99575900e-01 2.59176976e-02 1.32775096e-02 5.34150708e+00] [-2.59152683e-02 9.99664080e-01 -3.55014379e-04 -1.71610496e-01] [-1.32822505e-02 1.07735943e-05 9.99911787e-01 -3.44395387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.17, Z:-0.34 [[ 9.99645463e-01 2.31418408e-02 1.31682663e-02 5.37460177e+00] [-2.31391779e-02 9.99732191e-01 -3.54563263e-04 -1.66407185e-01] [-1.31729449e-02 4.97347006e-05 9.99913232e-01 -3.44810627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.16, Z:-0.35 [[ 9.99675338e-01 2.17334716e-02 1.32994380e-02 5.40750320e+00] [-2.17305962e-02 9.99763798e-01 -3.60688811e-04 -1.64328210e-01] [-1.33041357e-02 7.15669915e-05 9.99911494e-01 -3.45725857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.16, Z:-0.35 [[ 9.99709340e-01 2.00990158e-02 1.33140953e-02 5.44095770e+00] [-2.00959550e-02 9.99797990e-01 -3.63654089e-04 -1.62414250e-01] [-1.33187148e-02 9.59889287e-05 9.99911297e-01 -3.46387727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.16, Z:-0.35 [[ 9.99785625e-01 1.67257305e-02 1.22046475e-02 5.47279520e+00] [-1.67228803e-02 9.99860107e-01 -3.35560735e-04 -1.58969369e-01] [-1.22085527e-02 1.31391940e-04 9.99925464e-01 -3.47513507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.16, Z:-0.35 [[ 9.99817491e-01 1.49790474e-02 1.18580027e-02 5.50618396e+00] [-1.49762087e-02 9.99887796e-01 -3.28151441e-04 -1.58204917e-01] [-1.18615875e-02 1.50503627e-04 9.99929638e-01 -3.48459878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.16, Z:-0.35 [[ 9.99849274e-01 1.31834533e-02 1.12971168e-02 5.53894454e+00] [-1.31807420e-02 9.99913081e-01 -3.14423657e-04 -1.57428153e-01] [-1.13002801e-02 1.65471884e-04 9.99936136e-01 -3.49121493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.15, Z:-0.35 [[ 9.99890297e-01 9.86851058e-03 1.10456367e-02 5.57082842e+00] [-9.86569156e-03 9.99951285e-01 -3.09676266e-04 -1.54708345e-01] [-1.10481547e-02 2.00669449e-04 9.99938947e-01 -3.50455380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.15, Z:-0.35 [[ 9.99903703e-01 8.52948808e-03 1.09467779e-02 5.60424848e+00] [-8.52661722e-03 9.99963600e-01 -3.08900480e-04 -1.54146845e-01] [-1.09490142e-02 2.15531749e-04 9.99940035e-01 -3.51167824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.15, Z:-0.35 [[ 9.99908925e-01 7.65874328e-03 1.11123955e-02 5.63759231e+00] [-7.65570737e-03 9.99970645e-01 -3.15712911e-04 -1.53502674e-01] [-1.11144872e-02 2.30610909e-04 9.99938206e-01 -3.51117347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.15, Z:-0.35 [[ 9.99908029e-01 7.04591977e-03 1.15882951e-02 5.66986379e+00] [-7.04254857e-03 9.99975146e-01 -3.31695810e-04 -1.52896572e-01] [-1.15903441e-02 2.50054173e-04 9.99932798e-01 -3.52000346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.15, Z:-0.35 [[ 9.99912035e-01 6.29165736e-03 1.16763186e-02 5.70215513e+00] [-6.28815838e-03 9.99980173e-01 -3.36353475e-04 -1.51181679e-01] [-1.16782033e-02 2.62901348e-04 9.99931773e-01 -3.52478688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.15, Z:-0.35 [[ 9.99911160e-01 6.34949574e-03 1.17198988e-02 5.73481970e+00] [-6.34595226e-03 9.99979807e-01 -3.39511012e-04 -1.51904039e-01] [-1.17218179e-02 2.65106931e-04 9.99931262e-01 -3.53333225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.15, Z:-0.35 [[ 9.99910614e-01 6.56277013e-03 1.16488023e-02 5.76722124e+00] [-6.55925660e-03 9.99978430e-01 -3.39801862e-04 -1.52494428e-01] [-1.16507811e-02 2.63364005e-04 9.99932093e-01 -3.53485844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.15, Z:-0.35 [[ 9.99910840e-01 7.41734984e-03 1.11038173e-02 5.80047834e+00] [-7.41419056e-03 9.99972461e-01 -3.25660041e-04 -1.51743686e-01] [-1.11059271e-02 2.43305187e-04 9.99938298e-01 -3.54625029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.15, Z:-0.36 [[ 9.99906840e-01 7.96500464e-03 1.10846840e-02 5.83265520e+00] [-7.96186515e-03 9.99968250e-01 -3.27327865e-04 -1.51940412e-01] [-1.10869393e-02 2.39042612e-04 9.99938509e-01 -3.55166176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.15, Z:-0.36 [[ 9.99899643e-01 8.54251723e-03 1.13017580e-02 5.86584234e+00] [-8.53926846e-03 9.99963483e-01 -3.35682541e-04 -1.51649325e-01] [-1.13042128e-02 2.39140107e-04 9.99936077e-01 -3.55695149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.15, Z:-0.36 [[ 9.99901715e-01 8.68878136e-03 1.10030034e-02 5.89821811e+00] [-8.68568671e-03 9.99962225e-01 -3.29010702e-04 -1.52558780e-01] [-1.10054465e-02 2.33409725e-04 9.99939411e-01 -3.56185452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.15, Z:-0.36 [[ 9.99907169e-01 8.63419994e-03 1.05406047e-02 5.93118127e+00] [-8.63133818e-03 9.99962699e-01 -3.16960503e-04 -1.53408652e-01] [-1.05429482e-02 2.25951555e-04 9.99944396e-01 -3.56785315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.16, Z:-0.36 [[ 9.99906938e-01 8.25147317e-03 1.08641366e-02 5.96403297e+00] [-8.24838699e-03 9.99965927e-01 -3.28848256e-04 -1.55273389e-01] [-1.08664799e-02 2.39206050e-04 9.99940929e-01 -3.57339509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.16, Z:-0.36 [[ 9.99901748e-01 7.95730481e-03 1.15401800e-02 5.99570142e+00] [-7.95377299e-03 9.99968306e-01 -3.51909812e-04 -1.57618582e-01] [-1.15426145e-02 2.60087264e-04 9.99933348e-01 -3.57940266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.16, Z:-0.36 [[ 9.99895702e-01 7.88102211e-03 1.21026714e-02 6.02826446e+00] [-7.87710276e-03 9.99968906e-01 -3.71477092e-04 -1.59795647e-01] [-1.21052227e-02 2.76104362e-04 9.99926691e-01 -3.57931675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.16, Z:-0.36 [[ 9.99892178e-01 8.02497209e-03 1.22976109e-02 6.06077660e+00] [-8.02090891e-03 9.99967760e-01 -3.79690640e-04 -1.61369045e-01] [-1.23002615e-02 2.81011684e-04 9.99924309e-01 -3.58584053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.16, Z:-0.36 [[ 9.99903109e-01 7.83788037e-03 1.15039307e-02 6.09307572e+00] [-7.83429044e-03 9.99969248e-01 -3.57092232e-04 -1.64076213e-01] [-1.15063758e-02 2.66932499e-04 9.99933764e-01 -3.57183463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.17, Z:-0.36 [[ 9.99902447e-01 7.97225937e-03 1.14690789e-02 6.12538164e+00] [-7.96867833e-03 9.99968186e-01 -3.57899810e-04 -1.66677994e-01] [-1.14715673e-02 2.66471495e-04 9.99934164e-01 -3.60288047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.17, Z:-0.36 [[ 9.99909595e-01 8.08666432e-03 1.07428300e-02 6.15862993e+00] [-8.08351499e-03 9.99967271e-01 -3.36545383e-04 -1.70928808e-01] [-1.07452000e-02 2.49675130e-04 9.99942238e-01 -3.61030888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.17, Z:-0.36 [[ 9.99910192e-01 8.41058430e-03 1.04340509e-02 6.19113028e+00] [-8.40761124e-03 9.99964601e-01 -3.28769827e-04 -1.73034266e-01] [-1.04364467e-02 2.41014857e-04 9.99945510e-01 -3.61564308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.18, Z:-0.36 [[ 9.99912962e-01 8.53234958e-03 1.00631401e-02 6.22313219e+00] [-8.52957096e-03 9.99963572e-01 -3.19005311e-04 -1.75526919e-01] [-1.00654953e-02 2.33143279e-04 9.99949314e-01 -3.62426003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.18, Z:-0.36 [[ 9.99913748e-01 8.53261032e-03 9.98453314e-03 6.25647767e+00] [-8.52985866e-03 9.99963569e-01 -3.18145147e-04 -1.78328086e-01] [-9.98688401e-03 2.32951050e-04 9.99950103e-01 -3.62795219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198623852999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.18, Z:-0.36 [[ 9.99918200e-01 7.83499051e-03 1.01097305e-02 6.28881168e+00] [-7.83211252e-03 9.99969276e-01 -3.24236039e-04 -1.83525504e-01] [-1.01119602e-02 2.45028970e-04 9.99948843e-01 -3.63250397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.19, Z:-0.36 [[ 9.99925967e-01 7.46561029e-03 9.60858462e-03 6.32127492e+00] [-7.46297950e-03 9.99972104e-01 -3.09622437e-04 -1.87678965e-01] [-9.61062810e-03 2.37890844e-04 9.99953789e-01 -3.63716051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.19, Z:-0.36 [[ 9.99934876e-01 6.72089005e-03 9.22349054e-03 6.35403473e+00] [-6.71841942e-03 9.99977387e-01 -2.98822307e-04 -1.94058900e-01] [-9.22529032e-03 2.36835569e-04 9.99957418e-01 -3.64285993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.20, Z:-0.37 [[ 9.99931629e-01 6.99622292e-03 9.36966520e-03 6.38729125e+00] [-6.99366863e-03 9.99975497e-01 -3.05349938e-04 -1.97132634e-01] [-9.37157192e-03 2.39800727e-04 9.99956057e-01 -3.65040202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.20, Z:-0.37 [[ 9.99931036e-01 7.08061565e-03 9.36957059e-03 6.42076483e+00] [-7.07803819e-03 9.99974903e-01 -3.08219329e-04 -1.98371274e-01] [-9.37151783e-03 2.41879895e-04 9.99956057e-01 -3.65686839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.20, Z:-0.37 [[ 9.99925856e-01 7.94407348e-03 9.22893762e-03 6.45254407e+00] [-7.94161144e-03 9.99968419e-01 -3.03390875e-04 -2.01672191e-01] [-9.23105632e-03 2.30075744e-04 9.99957366e-01 -3.66142531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.21, Z:-0.37 [[ 9.99903047e-01 1.06790034e-02 8.93620763e-03 6.48531271e+00] [-1.06767819e-02 9.99942958e-01 -2.96265035e-04 -2.06687337e-01] [-8.93886170e-03 2.00826371e-04 9.99960027e-01 -3.66207574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.21, Z:-0.37 [[ 9.99881518e-01 1.25919581e-02 8.85397384e-03 6.51725516e+00] [-1.25898546e-02 9.99920702e-01 -2.93273869e-04 -2.10021735e-01] [-8.85696463e-03 1.81768878e-04 9.99960760e-01 -3.67059044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.21, Z:-0.37 [[ 9.99860046e-01 1.45648138e-02 8.23137967e-03 6.55026946e+00] [-1.45630534e-02 9.99893916e-01 -2.73756006e-04 -2.13268466e-01] [-8.23449366e-03 1.53843671e-04 9.99966084e-01 -3.67399394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.22, Z:-0.37 [[ 9.99797257e-01 1.84798702e-02 7.99617486e-03 6.58212138e+00] [-1.84783167e-02 9.99829225e-01 -2.68127925e-04 -2.18156124e-01] [-7.99976429e-03 1.20317713e-04 9.99967994e-01 -3.67407272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.22, Z:-0.37 [[ 9.99756709e-01 2.05019821e-02 8.13578721e-03 6.61475165e+00] [-2.05004391e-02 9.99789807e-01 -2.73021236e-04 -2.20822415e-01] [-8.13967460e-03 1.06167602e-04 9.99966867e-01 -3.68153512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.23, Z:-0.37 [[ 9.99670576e-01 2.40696075e-02 8.91029582e-03 6.64728430e+00] [-2.40678811e-02 9.99710281e-01 -3.00947360e-04 -2.26220048e-01] [-8.91495803e-03 8.63962809e-05 9.99960257e-01 -3.68116018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.23, Z:-0.37 [[ 9.99624665e-01 2.56931768e-02 9.50734181e-03 6.67873740e+00] [-2.56912637e-02 9.99669873e-01 -3.23310484e-04 -2.29521289e-01] [-9.51251005e-03 7.89335087e-05 9.99954752e-01 -3.68381762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.23, Z:-0.37 [[ 9.99576377e-01 2.73728524e-02 9.88909682e-03 6.71132003e+00] [-2.73708470e-02 9.99625291e-01 -3.38104102e-04 -2.32081718e-01] [-9.89464616e-03 6.72879179e-05 9.99951045e-01 -3.68828663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.23, Z:-0.37 [[ 9.99533821e-01 2.87376267e-02 1.03096504e-02 6.74302274e+00] [-2.87354965e-02 9.99586987e-01 -3.54723541e-04 -2.34556651e-01] [-1.03155863e-02 5.83052544e-05 9.99946791e-01 -3.68861970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.24, Z:-0.37 [[ 9.99453935e-01 3.12971081e-02 1.05982333e-02 6.77493438e+00] [-3.12949795e-02 9.99510125e-01 -3.66665186e-04 -2.40047067e-01] [-1.06045170e-02 3.47934696e-05 9.99943770e-01 -3.66023151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.24, Z:-0.37 [[ 9.99377967e-01 3.35526717e-02 1.08580238e-02 6.80752836e+00] [-3.35505496e-02 9.99436951e-01 -3.77580758e-04 -2.42626753e-01] [-1.08645790e-02 1.30532258e-05 9.99940979e-01 -3.69073706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.24, Z:-0.37 [[ 9.99307856e-01 3.56536458e-02 1.06126000e-02 6.84053234e+00] [-3.56517167e-02 9.99364207e-01 -3.70961423e-04 -2.44664060e-01] [-1.06190787e-02 -7.65274366e-06 9.99943616e-01 -3.69429547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.25, Z:-0.37 [[ 9.99111996e-01 4.08024169e-02 1.05062752e-02 6.87299040e+00] [-4.08007912e-02 9.99167233e-01 -3.69121387e-04 -2.46728771e-01] [-1.05125869e-02 -5.98707329e-05 9.99944739e-01 -3.69975695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.25, Z:-0.37 [[ 9.98999307e-01 4.35269254e-02 1.02854898e-02 6.90538069e+00] [-4.35254907e-02 9.99052251e-01 -3.63393759e-04 -2.48135277e-01] [-1.02915592e-02 -8.46508792e-05 9.99947037e-01 -3.70481989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.25, Z:-0.37 [[ 9.98783027e-01 4.84436597e-02 9.25618632e-03 6.93796372e+00] [-4.84426976e-02 9.98825909e-01 -3.28250373e-04 -2.48982669e-01] [-9.26122037e-03 -1.20543734e-04 9.99957107e-01 -3.71037975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.25, Z:-0.37 [[ 9.98683084e-01 5.04911546e-02 9.09623224e-03 6.96953061e+00] [-5.04902941e-02 9.98724499e-01 -3.24371497e-04 -2.49786584e-01] [-9.10100787e-03 -1.35327114e-04 9.99958576e-01 -3.71646894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.25, Z:-0.37 [[ 9.98604954e-01 5.20533746e-02 8.86522516e-03 7.00216809e+00] [-5.20526066e-02 9.98644294e-01 -3.17491200e-04 -2.50257372e-01] [-8.86973300e-03 -1.44409792e-04 9.99960653e-01 -3.72098248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.25, Z:-0.37 [[ 9.98491716e-01 5.42156363e-02 8.65782384e-03 7.03499766e+00] [-5.42149719e-02 9.98529238e-01 -3.11593284e-04 -2.50532506e-01] [-8.66198347e-03 -1.58260363e-04 9.99962472e-01 -3.73325645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.25, Z:-0.37 [[ 9.98483065e-01 5.43291109e-02 8.93958725e-03 7.06702853e+00] [-5.43283900e-02 9.98523070e-01 -3.23640889e-04 -2.51833460e-01] [-8.94396723e-03 -1.62523436e-04 9.99959989e-01 -3.73817499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.25, Z:-0.37 [[ 9.98483560e-01 5.42738335e-02 9.21580067e-03 7.09986322e+00] [-5.42730503e-02 9.98526076e-01 -3.35235405e-04 -2.53286272e-01] [-9.22041179e-03 -1.65442573e-04 9.99957477e-01 -3.74012676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.25, Z:-0.37 [[ 9.98506093e-01 5.37801452e-02 9.65811032e-03 7.13253625e+00] [-5.37792429e-02 9.98552787e-01 -3.53295435e-04 -2.54566288e-01] [-9.66313326e-03 -1.66638217e-04 9.99953297e-01 -3.74830353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.25, Z:-0.38 [[ 9.98621908e-01 5.15670710e-02 9.75307292e-03 7.16557158e+00] [-5.15660282e-02 9.98669523e-01 -3.58524782e-04 -2.53877882e-01] [-9.75858476e-03 -1.44896531e-04 9.99952373e-01 -3.75445489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.25, Z:-0.38 [[ 9.98694146e-01 5.02049724e-02 9.45853891e-03 7.19779395e+00] [-5.02039078e-02 9.98738927e-01 -3.50109811e-04 -2.54414036e-01] [-9.46418826e-03 -1.25202997e-04 9.99955206e-01 -3.76365013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.25, Z:-0.38 [[ 9.98760662e-01 4.89802857e-02 8.83577333e-03 7.23029914e+00] [-4.89793079e-02 9.98799740e-01 -3.27158263e-04 -2.54853469e-01] [-8.84119240e-03 -1.06017258e-04 9.99960910e-01 -3.77071638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.25, Z:-0.38 [[ 9.98907799e-01 4.60845157e-02 7.70891119e-03 7.26238633e+00] [-4.60836760e-02 9.98937542e-01 -2.86614531e-04 -2.54329323e-01] [-7.71392929e-03 -6.89534751e-05 9.99970245e-01 -3.77708286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.26, Z:-0.38 [[ 9.98981948e-01 4.44865763e-02 7.48413394e-03 7.29428683e+00] [-4.44857297e-02 9.99009981e-01 -2.79638098e-04 -2.55100839e-01] [-7.48916464e-03 -5.35837467e-05 9.99971954e-01 -3.78223759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.26, Z:-0.38 [[ 9.99051221e-01 4.29297200e-02 7.32776285e-03 7.32734475e+00] [-4.29288582e-02 9.99078094e-01 -2.74925538e-04 -2.56953198e-01] [-7.33280982e-03 -3.99077981e-05 9.99973114e-01 -3.78214534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.26, Z:-0.38 [[ 9.99194975e-01 3.94367603e-02 7.35818652e-03 7.35977661e+00] [-3.94357857e-02 9.99222068e-01 -2.77557000e-04 -2.58361219e-01] [-7.36340830e-03 -1.28423070e-05 9.99972890e-01 -3.78272007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.26, Z:-0.38 [[ 9.99265162e-01 3.75915631e-02 7.48400229e-03 7.39315461e+00] [-3.75904951e-02 9.99293187e-01 -2.83369901e-04 -2.59561680e-01] [-7.48936482e-03 1.83431875e-06 9.99971954e-01 -3.78652568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.26, Z:-0.38 [[ 9.99333249e-01 3.56158142e-02 8.03567758e-03 7.42511057e+00] [-3.56144981e-02 9.99365555e-01 -3.06864180e-04 -2.60578849e-01] [-8.04150860e-03 2.04729536e-05 9.99967666e-01 -3.79021488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.26, Z:-0.38 [[ 9.99465237e-01 3.15473972e-02 8.60240227e-03 7.45802296e+00] [-3.15457334e-02 9.99502255e-01 -3.29065754e-04 -2.61911148e-01] [-8.60850163e-03 5.75206940e-05 9.99962945e-01 -3.79107112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.26, Z:-0.38 [[ 9.99514220e-01 2.98891494e-02 8.82963182e-03 7.49089083e+00] [-2.98873171e-02 9.99553217e-01 -3.39423983e-04 -2.63862161e-01] [-8.83583198e-03 7.53650913e-05 9.99960960e-01 -3.77307075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.27, Z:-0.38 [[ 9.99541852e-01 2.88597183e-02 9.12156951e-03 7.52427120e+00] [-2.88577041e-02 9.99583468e-01 -3.52380178e-04 -2.65549001e-01] [-9.12793968e-03 8.89911814e-05 9.99958336e-01 -3.79834754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.27, Z:-0.38 [[ 9.99603478e-01 2.67647835e-02 8.74833023e-03 7.55606895e+00] [-2.67628372e-02 9.99641753e-01 -3.39489978e-04 -2.67283931e-01] [-8.75428254e-03 1.05225225e-04 9.99961675e-01 -3.80331294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.27, Z:-0.38 [[ 9.99633501e-01 2.58272046e-02 8.11294294e-03 7.58879569e+00] [-2.58254918e-02 9.99666416e-01 -3.15829879e-04 -2.69192213e-01] [-8.11839360e-03 1.06193386e-04 9.99967040e-01 -3.78136093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.27, Z:-0.38 [[ 9.99645618e-01 2.54269084e-02 7.88097823e-03 7.62023857e+00] [-2.54252686e-02 9.99676678e-01 -3.08208962e-04 -2.71199718e-01] [-7.88626694e-03 1.07723750e-04 9.99968897e-01 -3.81764121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.27, Z:-0.38 [[ 9.99677052e-01 2.42507373e-02 7.59557566e-03 7.65173382e+00] [-2.42491717e-02 9.99705901e-01 -2.98168548e-04 -2.74155801e-01] [-7.60057261e-03 1.13885837e-04 9.99971109e-01 -3.81791140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.28, Z:-0.38 [[ 9.99680206e-01 2.41462373e-02 7.51303762e-03 7.68319694e+00] [-2.41446935e-02 9.99708431e-01 -2.96125413e-04 -2.76276173e-01] [-7.51799736e-03 1.14630723e-04 9.99971733e-01 -3.82209882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.28, Z:-0.38 [[ 9.99679485e-01 2.40939785e-02 7.77220657e-03 7.71593472e+00] [-2.40923151e-02 9.99709691e-01 -3.07578034e-04 -2.78178012e-01] [-7.77736100e-03 1.20229001e-04 9.99969749e-01 -3.82257397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.28, Z:-0.38 [[ 9.99661684e-01 2.46341647e-02 8.34716999e-03 7.74838005e+00] [-2.46322510e-02 9.99696525e-01 -3.32006957e-04 -2.80382981e-01] [-8.35281555e-03 1.26285047e-04 9.99965107e-01 -3.82531804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.28, Z:-0.38 [[ 9.99625973e-01 2.59696097e-02 8.57284289e-03 7.78111537e+00] [-2.59676270e-02 9.99662726e-01 -3.42518664e-04 -2.82037656e-01] [-8.57884657e-03 1.19774166e-04 9.99963194e-01 -3.82466919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.28, Z:-0.38 [[ 9.99590332e-01 2.73713050e-02 8.36540980e-03 7.81275301e+00] [-2.73694540e-02 9.99625330e-01 -3.35686187e-04 -2.83987449e-01] [-8.37146370e-03 1.06591968e-04 9.99964953e-01 -3.82956430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.29, Z:-0.38 [[ 9.99545968e-01 2.89420555e-02 8.37947072e-03 7.84592727e+00] [-2.89402432e-02 9.99581086e-01 -3.37473322e-04 -2.86058204e-01] [-8.38572762e-03 9.48161781e-05 9.99964835e-01 -3.84119868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.29, Z:-0.38 [[ 9.99435487e-01 3.24513963e-02 8.69559252e-03 7.87854729e+00] [-3.24495666e-02 9.99473312e-01 -3.51465297e-04 -2.89177714e-01] [-8.70241820e-03 6.90986818e-05 9.99962131e-01 -3.83992274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.29, Z:-0.38 [[ 9.99378396e-01 3.41929089e-02 8.58288772e-03 7.91065779e+00] [-3.41911752e-02 9.99415250e-01 -3.48683621e-04 -2.91238844e-01] [-8.58979139e-03 5.50078595e-05 9.99963106e-01 -3.80654659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.29, Z:-0.38 [[ 9.99303783e-01 3.61697061e-02 9.14890698e-03 7.94316445e+00] [-3.61677999e-02 9.99345661e-01 -3.73778315e-04 -2.92570812e-01] [-9.15643994e-03 4.26222477e-05 9.99958078e-01 -3.84309300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.29, Z:-0.38 [[ 9.99182379e-01 3.92285978e-02 9.78213005e-03 7.97589924e+00] [-3.92265468e-02 9.99230262e-01 -4.01512316e-04 -2.92813997e-01] [-9.79035114e-03 1.74648490e-05 9.99952073e-01 -3.84406934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.29, Z:-0.38 [[ 9.99140029e-01 4.03209797e-02 9.66545912e-03 8.00851685e+00] [-4.03190158e-02 9.99186779e-01 -3.98033812e-04 -2.93439956e-01] [-9.67364808e-03 7.98971572e-06 9.99953209e-01 -3.84830298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.29, Z:-0.39 [[ 9.99095969e-01 4.13923746e-02 9.69104517e-03 8.04015969e+00] [-4.13904309e-02 9.99142968e-01 -4.01128315e-04 -2.93565540e-01] [-9.69934330e-03 -3.50853667e-07 9.99952960e-01 -3.86470733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.30, Z:-0.39 [[ 9.99086214e-01 4.16264020e-02 9.69433933e-03 8.07182613e+00] [-4.16244506e-02 9.99133246e-01 -4.03065060e-04 -2.95023791e-01] [-9.70271487e-03 -8.24803901e-07 9.99952928e-01 -3.86959516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.30, Z:-0.39 [[ 9.99088373e-01 4.16715289e-02 9.26856560e-03 8.10454260e+00] [-4.16697342e-02 9.99131365e-01 -3.86752373e-04 -2.97228459e-01] [-9.27663116e-03 1.81134405e-07 9.99956971e-01 -3.87512573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.30, Z:-0.39 [[ 9.99118224e-01 4.10276912e-02 8.91644253e-03 8.13608031e+00] [-4.10259895e-02 9.99158010e-01 -3.73750075e-04 -2.99056861e-01] [-8.92426907e-03 7.61463380e-06 9.99960178e-01 -3.89200136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.30, Z:-0.39 [[ 9.99124361e-01 4.10013984e-02 8.33052116e-03 8.16929352e+00] [-4.09999026e-02 9.99159089e-01 -3.50328398e-04 -3.00287509e-01] [-8.33787989e-03 8.47108011e-06 9.99965239e-01 -3.89192416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.30, Z:-0.39 [[ 9.99129874e-01 4.09244858e-02 8.04253322e-03 8.20091118e+00] [-4.09230714e-02 9.99162242e-01 -3.40424020e-04 -3.01498807e-01] [-8.04972720e-03 1.10026471e-05 9.99967600e-01 -3.90027277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.30, Z:-0.39 [[ 9.99120831e-01 4.12078438e-02 7.71225529e-03 8.23402250e+00] [-4.12065516e-02 9.99150596e-01 -3.26438552e-04 -3.02790183e-01] [-7.71915630e-03 8.35611189e-06 9.99970207e-01 -3.90529868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.30, Z:-0.39 [[ 9.99044400e-01 4.29761625e-02 7.95837833e-03 8.26600670e+00] [-4.29748285e-02 9.99076098e-01 -3.38632155e-04 -3.03494725e-01] [-7.96557868e-03 -3.70138511e-06 9.99968274e-01 -3.90477073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.30, Z:-0.39 [[ 9.98993810e-01 4.41282052e-02 8.00434089e-03 8.29929034e+00] [-4.41268822e-02 9.99025876e-01 -3.41900740e-04 -3.04615361e-01] [-8.01163114e-03 -1.16498844e-05 9.99967906e-01 -3.91220084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.31, Z:-0.39 [[ 9.98934010e-01 4.55116644e-02 7.71571221e-03 8.33145255e+00] [-4.55104650e-02 9.98963807e-01 -3.31046654e-04 -3.05597289e-01] [-7.72278373e-03 -2.04518892e-05 9.99970179e-01 -3.91539886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.31, Z:-0.39 [[ 9.98849300e-01 4.72335460e-02 8.31073022e-03 8.36338485e+00] [-4.72321996e-02 9.98883873e-01 -3.58306350e-04 -3.05090979e-01] [-8.31837847e-03 -3.46400222e-05 9.99965401e-01 -3.92396550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.31, Z:-0.39 [[ 9.98819097e-01 4.78398624e-02 8.47107482e-03 8.39661363e+00] [-4.78384734e-02 9.98855018e-01 -3.66638464e-04 -3.05551069e-01] [-8.47891552e-03 -3.90377873e-05 9.99964053e-01 -3.92948792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.31, Z:-0.39 [[ 9.98800830e-01 4.82039792e-02 8.56022930e-03 8.42962217e+00] [-4.82025603e-02 9.98837512e-01 -3.72118074e-04 -3.06290780e-01] [-8.56821571e-03 -4.09531276e-05 9.99963291e-01 -3.93042308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.31, Z:-0.39 [[ 9.98795332e-01 4.82678945e-02 8.83711588e-03 8.46198380e+00] [-4.82663684e-02 9.98834425e-01 -3.86016487e-04 -3.07099566e-01] [-8.84544776e-03 -4.09840251e-05 9.99960877e-01 -3.93639073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.31, Z:-0.39 [[ 9.98791471e-01 4.83477482e-02 8.83700683e-03 8.49543989e+00] [-4.83462032e-02 9.98830563e-01 -3.88492438e-04 -3.08717882e-01] [-8.84545524e-03 -3.92127940e-05 9.99960877e-01 -3.94285722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.31, Z:-0.40 [[ 9.98790708e-01 4.84154324e-02 8.54792915e-03 8.52785000e+00] [-4.84139922e-02 9.98827285e-01 -3.75449437e-04 -3.09298499e-01] [-8.55608241e-03 -3.88439658e-05 9.99963395e-01 -3.95356608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.31, Z:-0.40 [[ 9.98804723e-01 4.82570477e-02 7.77059493e-03 8.56088404e+00] [-4.82558457e-02 9.98834949e-01 -3.42210277e-04 -3.10173862e-01] [-7.77805585e-03 -3.31753887e-05 9.99969750e-01 -3.96066369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.31, Z:-0.40 [[ 9.98816769e-01 4.80579238e-02 7.44972736e-03 8.59403208e+00] [-4.80568045e-02 9.98844550e-01 -3.29292602e-04 -3.10877510e-01] [-7.45694469e-03 -2.91071177e-05 9.99972196e-01 -3.97134344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.31, Z:-0.40 [[ 9.98830435e-01 4.77985357e-02 7.28436013e-03 8.62741457e+00] [-4.77974495e-02 9.98856996e-01 -3.23223489e-04 -3.11343778e-01] [-7.29148369e-03 -2.53283777e-05 9.99973416e-01 -3.97731704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.31, Z:-0.40 [[ 9.98887786e-01 4.65851741e-02 7.28101584e-03 8.66022891e+00] [-4.65840480e-02 9.98914321e-01 -3.24262139e-04 -3.10209988e-01] [-7.28821680e-03 -1.52777017e-05 9.99973440e-01 -3.98873232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.31, Z:-0.40 [[ 9.98926984e-01 4.56991229e-02 7.51471986e-03 8.69281454e+00] [-4.56978870e-02 9.98955249e-01 -3.36169193e-04 -3.10849580e-01] [-7.52223149e-03 -7.59834110e-06 9.99971708e-01 -3.99149144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.31, Z:-0.40 [[ 9.98970028e-01 4.46831226e-02 7.89317856e-03 8.72496862e+00] [-4.46817127e-02 9.99001210e-01 -3.54960919e-04 -3.11715249e-01] [-7.90115570e-03 1.91458283e-06 9.99968785e-01 -3.99640851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.31, Z:-0.40 [[ 9.99061909e-01 4.25001628e-02 8.30892979e-03 8.75796756e+00] [-4.24985117e-02 9.99096460e-01 -3.75251540e-04 -3.12489856e-01] [-8.31737059e-03 2.17823704e-05 9.99965410e-01 -3.99803061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.79, Y:-0.31, Z:-0.40 [[ 9.99099197e-01 4.15962404e-02 8.39921178e-03 8.79085840e+00] [-4.15945075e-02 9.99134501e-01 -3.80967548e-04 -3.13222811e-01] [-8.40778909e-03 3.12632937e-05 9.99964653e-01 -3.99823756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.31, Z:-0.40 [[ 9.99140932e-01 4.05199031e-02 8.69111957e-03 8.82404583e+00] [-4.05179919e-02 9.99178731e-01 -3.95940956e-04 -3.13462507e-01] [-8.70002531e-03 4.34541032e-05 9.99962153e-01 -4.00155521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.31, Z:-0.40 [[ 9.99223375e-01 3.84030359e-02 8.82343564e-03 8.85601823e+00] [-3.84009671e-02 9.99262329e-01 -4.03825615e-04 -3.12761822e-01] [-8.83243498e-03 6.46835322e-05 9.99960991e-01 -4.00885324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.31, Z:-0.40 [[ 9.99254214e-01 3.74752795e-02 9.30693881e-03 8.88884872e+00] [-3.74729213e-02 9.99297552e-01 -4.27698675e-04 -3.13514272e-01] [-9.31642930e-03 7.86215183e-05 9.99956598e-01 -4.01579374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.31, Z:-0.40 [[ 9.99299492e-01 3.62360157e-02 9.35284766e-03 8.92121760e+00] [-3.62335567e-02 9.99343256e-01 -4.32290439e-04 -3.14595095e-01] [-9.36236971e-03 9.31006804e-05 9.99956168e-01 -4.01808913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658623853 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.32, Z:-0.40 [[ 9.99332225e-01 3.52731900e-02 9.53446940e-03 8.95396171e+00] [-3.52705863e-02 9.99377702e-01 -4.41148713e-04 -3.16670607e-01] [-9.54409684e-03 1.04567800e-04 9.99954449e-01 -3.99400068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.32, Z:-0.40 [[ 9.99402521e-01 3.33097031e-02 9.22306541e-03 8.98582074e+00] [-3.33071618e-02 9.99445070e-01 -4.29042453e-04 -3.17885474e-01] [-9.23223853e-03 1.21591977e-04 9.99957375e-01 -4.02378552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.32, Z:-0.40 [[ 9.99427584e-01 3.26736413e-02 8.77137181e-03 9.01835884e+00] [-3.26713168e-02 9.99466067e-01 -4.08208971e-04 -3.19049673e-01] [-8.78002615e-03 1.21403039e-04 9.99961447e-01 -4.03322096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.32, Z:-0.40 [[ 9.99492609e-01 3.08817669e-02 7.80003300e-03 9.04989884e+00] [-3.08798648e-02 9.99523037e-01 -3.64192681e-04 -3.19831121e-01] [-7.80755959e-03 1.23143928e-04 9.99969513e-01 -4.04882566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.32, Z:-0.41 [[ 9.99518856e-01 3.00219461e-02 7.79348026e-03 9.08292044e+00] [-3.00200113e-02 9.99549231e-01 -3.65147152e-04 -3.21609836e-01] [-7.80092963e-03 1.31011098e-04 9.99969564e-01 -4.05231544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.32, Z:-0.41 [[ 9.99545447e-01 2.91024546e-02 7.87063688e-03 9.11557728e+00] [-2.91004414e-02 9.99576424e-01 -3.70206918e-04 -3.23251654e-01] [-7.87807700e-03 1.40999632e-04 9.99968958e-01 -4.05392911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.33, Z:-0.41 [[ 9.99576878e-01 2.75026316e-02 9.46943752e-03 9.14793540e+00] [-2.74996164e-02 9.99621713e-01 -4.48497519e-04 -3.26364214e-01] [-9.47819022e-03 1.87901850e-04 9.99955063e-01 -4.05661200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.33, Z:-0.41 [[ 9.99578308e-01 2.72860473e-02 9.93369397e-03 9.18052307e+00] [-2.72827143e-02 9.99627647e-01 -4.70905374e-04 -3.29445071e-01] [-9.94284427e-03 1.99688662e-04 9.99950549e-01 -4.05790649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.33, Z:-0.40 [[ 9.99584970e-01 2.70614014e-02 9.87768793e-03 9.21274674e+00] [-2.70580746e-02 9.99633753e-01 -4.70307602e-04 -3.31823558e-01] [-9.88679743e-03 2.02841194e-04 9.99951104e-01 -4.02565147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.33, Z:-0.41 [[ 9.99588249e-01 2.69723565e-02 9.78900685e-03 9.24424225e+00] [-2.69690608e-02 9.99636159e-01 -4.68540778e-04 -3.33345560e-01] [-9.79808285e-03 2.04347535e-04 9.99951977e-01 -4.06734816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.34, Z:-0.41 [[ 9.99576560e-01 2.76411796e-02 9.09211270e-03 9.27688516e+00] [-2.76383645e-02 9.99617893e-01 -4.35149007e-04 -3.35465101e-01] [-9.10066657e-03 1.83673623e-04 9.99958571e-01 -4.07609025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.34, Z:-0.41 [[ 9.99554604e-01 2.85836983e-02 8.57705000e-03 9.30909811e+00] [-2.85812139e-02 9.99591389e-01 -4.12114314e-04 -3.38303113e-01] [-8.58532507e-03 1.66788259e-04 9.99963132e-01 -4.08314681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.34, Z:-0.41 [[ 9.99487706e-01 3.08361865e-02 8.57064557e-03 9.34138109e+00] [-3.08337728e-02 9.99524441e-01 -4.13641094e-04 -3.41576868e-01] [-8.57932483e-03 1.49163849e-04 9.99963186e-01 -4.08769865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.34, Z:-0.41 [[ 9.99445581e-01 3.22145102e-02 8.41160502e-03 9.37439837e+00] [-3.22122263e-02 9.99480969e-01 -4.06894903e-04 -3.43369702e-01] [-8.42034706e-03 1.35712788e-04 9.99964539e-01 -4.08966755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.34, Z:-0.41 [[ 9.99406109e-01 3.34729005e-02 8.18502092e-03 9.40598315e+00] [-3.34707610e-02 9.99439618e-01 -3.98275651e-04 -3.44797340e-01] [-8.19376562e-03 1.24080240e-04 9.99966423e-01 -4.06998466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.35, Z:-0.41 [[ 9.99347196e-01 3.52460326e-02 7.93086577e-03 9.43855587e+00] [-3.52440793e-02 9.99378660e-01 -3.85968109e-04 -3.46557331e-01] [-7.93954185e-03 1.06200086e-04 9.99968476e-01 -4.10618932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.35, Z:-0.41 [[ 9.99249978e-01 3.80000546e-02 7.44834837e-03 9.47149814e+00] [-3.79983989e-02 9.99277734e-01 -3.63738981e-04 -3.48774986e-01] [-7.45679078e-03 8.04408566e-05 9.99972195e-01 -4.11549818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.35, Z:-0.41 [[ 9.99200547e-01 3.92328894e-02 7.68424227e-03 9.50302245e+00] [-3.92311498e-02 9.99230091e-01 -3.77038225e-04 -3.50222153e-01] [-7.69311840e-03 7.52751409e-05 9.99970405e-01 -4.10453352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.35, Z:-0.41 [[ 9.99149428e-01 4.04560238e-02 7.98320204e-03 9.53459489e+00] [-4.04541720e-02 9.99181317e-01 -3.93376494e-04 -3.51809087e-01] [-7.99258078e-03 7.00880701e-05 9.99968056e-01 -4.12226443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.35, Z:-0.41 [[ 9.99068341e-01 4.22481876e-02 8.80568394e-03 9.56739926e+00] [-4.22459889e-02 9.99107145e-01 -4.35627046e-04 -3.54918347e-01] [-8.81622619e-03 6.32163642e-05 9.99961134e-01 -4.13092558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.36, Z:-0.41 [[ 9.99025823e-01 4.31780651e-02 9.11370066e-03 9.60082042e+00] [-4.31757313e-02 9.99067391e-01 -4.52766884e-04 -3.57366120e-01] [-9.12475074e-03 5.88351175e-05 9.99958367e-01 -4.13540579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.36, Z:-0.41 [[ 9.98990972e-01 4.39873933e-02 9.06346966e-03 9.63374643e+00] [-4.39851025e-02 9.99032085e-01 -4.52030461e-04 -3.58706384e-01] [-9.07458063e-03 5.29167072e-05 9.99958824e-01 -4.13857748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.36, Z:-0.41 [[ 9.98915386e-01 4.55717458e-02 9.55335694e-03 9.66620790e+00] [-4.55692518e-02 9.98961067e-01 -4.78683649e-04 -3.58702531e-01] [-9.56524610e-03 4.28251341e-05 9.99954251e-01 -4.14393994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.36, Z:-0.42 [[ 9.98880231e-01 4.62588920e-02 9.91963660e-03 9.69871075e+00] [-4.62562186e-02 9.98929484e-01 -4.98888943e-04 -3.60630092e-01] [-9.93209551e-03 3.94854243e-05 9.99950675e-01 -4.15102305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.36, Z:-0.42 [[ 9.98858372e-01 4.67383194e-02 9.87331086e-03 9.73101856e+00] [-4.67356741e-02 9.98907167e-01 -4.98599222e-04 -3.62878816e-01] [-9.88582466e-03 3.65941682e-05 9.99951133e-01 -4.16060050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.37, Z:-0.42 [[ 9.98857173e-01 4.69709667e-02 8.83610031e-03 9.76276487e+00] [-4.69688457e-02 9.98896255e-01 -4.47513648e-04 -3.65457539e-01] [-8.84736765e-03 3.19807846e-05 9.99960861e-01 -4.16284080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.37, Z:-0.42 [[ 9.98852522e-01 4.70737670e-02 8.81475138e-03 9.79560622e+00] [-4.70716479e-02 9.98891415e-01 -4.47832071e-04 -3.67644617e-01] [-8.82606062e-03 3.23933203e-05 9.99961049e-01 -4.17092995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.37, Z:-0.42 [[ 9.98860110e-01 4.68923674e-02 8.92117525e-03 9.82748094e+00] [-4.68901725e-02 9.98899947e-01 -4.55153254e-04 -3.69827718e-01] [-8.93270470e-03 3.63189827e-05 9.99960102e-01 -4.17924648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.37, Z:-0.42 [[ 9.98878013e-01 4.64737384e-02 9.10535258e-03 9.85965809e+00] [-4.64714184e-02 9.98919511e-01 -4.66314966e-04 -3.71704312e-01] [-9.11718575e-03 4.26531166e-05 9.99958437e-01 -4.18652020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528623853000001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.37, Z:-0.42 [[ 9.98965955e-01 4.46332117e-02 8.65426110e-03 9.89305567e+00] [-4.46310362e-02 9.99003440e-01 -4.44438913e-04 -3.74086702e-01] [-8.66547334e-03 5.77307031e-05 9.99962452e-01 -4.17277543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.38, Z:-0.42 [[ 9.99015678e-01 4.35133399e-02 8.61768976e-03 9.92610176e+00] [-4.35111276e-02 9.99052844e-01 -4.44133114e-04 -3.76735986e-01] [-8.62885318e-03 6.87305452e-05 9.99962768e-01 -4.20049616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.38, Z:-0.42 [[ 9.99083581e-01 4.17704407e-02 9.33961846e-03 9.95843864e+00] [-4.17677449e-02 9.99127230e-01 -4.83586610e-04 -3.79381978e-01] [-9.35166674e-03 9.30486403e-05 9.99956268e-01 -4.20557705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.38, Z:-0.42 [[ 9.99227383e-01 3.79080834e-02 1.03737285e-02 9.99084465e+00] [-3.79045274e-02 9.99281220e-01 -5.39258584e-04 -3.84005663e-01] [-1.03867143e-02 1.45630667e-04 9.99946046e-01 -4.17239526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.39, Z:-0.42 [[ 9.99291241e-01 3.61253525e-02 1.05817607e-02 1.00224183e+01] [-3.61215286e-02 9.99347252e-01 -5.52329904e-04 -3.87772171e-01] [-1.05948065e-02 1.69709065e-04 9.99943859e-01 -4.16766500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.39, Z:-0.42 [[ 9.99346022e-01 3.42517730e-02 1.15907042e-02 1.00551207e+01] [-3.42470321e-02 9.99413214e-01 -6.07316689e-04 -3.91735421e-01] [-1.16047046e-02 2.09972300e-04 9.99932641e-01 -4.21249733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.40, Z:-0.42 [[ 9.99494301e-01 2.94336042e-02 1.20335119e-02 1.00866298e+01] [-2.94281135e-02 9.99566699e-01 -6.33135207e-04 -3.99153294e-01] [-1.20469333e-02 2.78691476e-04 9.99927394e-01 -4.21739868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.40, Z:-0.42 [[ 9.99559916e-01 2.71608838e-02 1.19273203e-02 1.01195637e+01] [-2.71553029e-02 9.99631028e-01 -6.29637048e-04 -4.04849807e-01] [-1.19400209e-02 3.05469960e-04 9.99928669e-01 -4.20509766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.41, Z:-0.42 [[ 9.99609254e-01 2.53815221e-02 1.17096903e-02 1.01508295e+01] [-2.53759939e-02 9.99677785e-01 -6.20461425e-04 -4.10722497e-01] [-1.17216655e-02 3.23073952e-04 9.99931247e-01 -4.23337321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.42, Z:-0.42 [[ 9.99690641e-01 2.20437739e-02 1.15192651e-02 1.01837563e+01] [-2.20381803e-02 9.99756942e-01 -6.12308558e-04 -4.20244589e-01] [-1.15299628e-02 3.58255494e-04 9.99933464e-01 -4.24132862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.43, Z:-0.42 [[ 9.99717323e-01 2.09256327e-02 1.12868005e-02 1.02161192e+01] [-2.09201677e-02 9.99780968e-01 -6.02058649e-04 -4.27265280e-01] [-1.12969267e-02 3.65766703e-04 9.99936121e-01 -4.24430137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.43, Z:-0.42 [[ 9.99731776e-01 2.01127843e-02 1.14827234e-02 1.02477238e+01] [-2.01070419e-02 9.99797644e-01 -6.15326144e-04 -4.34242953e-01] [-1.14927757e-02 3.84277497e-04 9.99933882e-01 -4.24967609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.44, Z:-0.42 [[ 9.99723503e-01 2.08517715e-02 1.08683778e-02 1.02805989e+01] [-2.08466651e-02 9.99782515e-01 -5.82926351e-04 -4.43825925e-01] [-1.08781691e-02 3.56195741e-04 9.99940768e-01 -4.22245973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.45, Z:-0.42 [[ 9.99697901e-01 2.24227831e-02 1.00660576e-02 1.03124511e+01] [-2.24184641e-02 9.99748528e-01 -5.41717225e-04 -4.49444642e-01] [-1.00756731e-02 3.15888022e-04 9.99949189e-01 -4.22773621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.46, Z:-0.43 [[ 9.99645068e-01 2.48470417e-02 9.61053972e-03 1.03444466e+01] [-2.48432008e-02 9.99691225e-01 -5.18842473e-04 -4.55592032e-01] [-9.62046393e-03 2.79901751e-04 9.99953683e-01 -4.26615522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.46, Z:-0.43 [[ 9.99468939e-01 3.11548664e-02 9.55064562e-03 1.03770845e+01] [-3.11513463e-02 9.99514545e-01 -5.17142608e-04 -4.64926663e-01] [-9.56212072e-03 2.19352505e-04 9.99954258e-01 -4.26969709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.47, Z:-0.43 [[ 9.99334175e-01 3.52175571e-02 9.53577612e-03 1.04102476e+01] [-3.52142150e-02 9.99379653e-01 -5.18211220e-04 -4.70246932e-01] [-9.54811077e-03 1.82071312e-04 9.99954399e-01 -4.27623971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.48, Z:-0.43 [[ 9.99174663e-01 3.94429624e-02 9.70803524e-03 1.04428676e+01] [-3.94396683e-02 9.99221813e-01 -5.30606945e-04 -4.75510873e-01] [-9.72140928e-03 1.47287326e-04 9.99952735e-01 -4.28008414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.48, Z:-0.43 [[ 9.98983753e-01 4.39323584e-02 1.00701937e-02 1.04749089e+01] [-4.39290416e-02 9.99034502e-01 -5.50429250e-04 -4.80834082e-01] [-1.00846526e-02 1.07495921e-04 9.99949143e-01 -4.28646998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.49, Z:-0.43 [[ 9.98560956e-01 5.25990318e-02 1.04574384e-02 1.05067970e+01] [-5.25959073e-02 9.98615713e-01 -5.73765013e-04 -4.88719009e-01] [-1.04731418e-02 2.29208800e-05 9.99945155e-01 -4.28672816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.49, Z:-0.43 [[ 9.98325503e-01 5.67505551e-02 1.12055791e-02 1.05393095e+01] [-5.67472030e-02 9.98388388e-01 -6.17126979e-04 -4.93142779e-01] [-1.12225424e-02 -1.97916708e-05 9.99937025e-01 -4.29139930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.50, Z:-0.43 [[ 9.98320832e-01 5.68326969e-02 1.12054151e-02 1.05727396e+01] [-5.68293168e-02 9.98383716e-01 -6.20088324e-04 -4.95133466e-01] [-1.12225453e-02 -1.77489924e-05 9.99937025e-01 -4.29786746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.50, Z:-0.43 [[ 9.98085833e-01 6.06831417e-02 1.19258792e-02 1.06058360e+01] [-6.06795843e-02 9.98157078e-01 -6.60240997e-04 -4.99227558e-01] [-1.19439662e-02 -6.46802068e-05 9.99928666e-01 -4.30478566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.50, Z:-0.43 [[ 9.97598326e-01 6.82292110e-02 1.19312474e-02 1.06389848e+01] [-6.82261627e-02 9.97669660e-01 -6.62805927e-04 -5.04676257e-01] [-1.19486663e-02 -1.52809144e-04 9.99928600e-01 -4.31313228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.51, Z:-0.43 [[ 9.97348770e-01 7.18127147e-02 1.17628309e-02 1.06709365e+01] [-7.18099733e-02 9.97418116e-01 -6.55800565e-04 -5.07908635e-01] [-1.17795554e-02 -1.90626681e-04 9.99930600e-01 -4.32268476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.51, Z:-0.43 [[ 9.97097527e-01 7.52591852e-02 1.15141660e-02 1.07035907e+01] [-7.52567658e-02 9.97163981e-01 -6.43862523e-04 -5.10896322e-01] [-1.15299682e-02 -2.24525166e-04 9.99933503e-01 -4.33486732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.51, Z:-0.43 [[ 9.96664931e-01 8.09445680e-02 1.03436804e-02 1.07349742e+01] [-8.09428983e-02 9.96718571e-01 -5.80648506e-04 -5.14064747e-01] [-1.03567387e-02 -2.58535467e-04 9.99946334e-01 -4.34575918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.52, Z:-0.44 [[ 9.96462605e-01 8.34437655e-02 9.97065087e-03 1.07680998e+01] [-8.34423348e-02 9.96512450e-01 -5.60124760e-04 -5.16451525e-01] [-9.98261664e-03 -2.73831011e-04 9.99950135e-01 -4.35632266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.52, Z:-0.44 [[ 9.96286182e-01 8.55418179e-02 9.82039546e-03 1.07999321e+01] [-8.55405128e-02 9.96334539e-01 -5.53625023e-04 -5.18324453e-01] [-9.83175727e-03 -2.88472703e-04 9.99951625e-01 -4.36313701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.52, Z:-0.44 [[ 9.96039196e-01 8.83078618e-02 1.03750543e-02 1.08321082e+01] [-8.83065336e-02 9.96093174e-01 -5.86951224e-04 -5.19671641e-01] [-1.03863532e-02 -3.31558659e-04 9.99946005e-01 -4.37140361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.52, Z:-0.44 [[ 9.95979259e-01 8.88891643e-02 1.11369885e-02 1.08653753e+01] [-8.88876467e-02 9.96041458e-01 -6.32156082e-04 -5.21223341e-01] [-1.11490940e-02 -3.60326350e-04 9.99937782e-01 -4.37858174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.52, Z:-0.44 [[ 9.96022083e-01 8.81855232e-02 1.27798246e-02 1.08987246e+01] [-8.81834303e-02 9.96103987e-01 -7.28279377e-04 -5.22547716e-01] [-1.27942579e-02 -4.01586428e-04 9.99918069e-01 -4.38200356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.52, Z:-0.44 [[ 9.96106953e-01 8.71289489e-02 1.33971599e-02 1.09305634e+01] [-8.71265156e-02 9.96196960e-01 -7.66282822e-04 -5.24239408e-01] [-1.34129754e-02 -4.03948213e-04 9.99909960e-01 -4.38680432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.53, Z:-0.44 [[ 9.96225406e-01 8.57142365e-02 1.37116655e-02 1.09633268e+01] [-8.57115198e-02 9.96319686e-01 -7.86749331e-04 -5.26367868e-01] [-1.37286379e-02 -3.91468017e-04 9.99905681e-01 -4.39222111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.53, Z:-0.44 [[ 9.96347200e-01 8.42461603e-02 1.39585758e-02 1.09955769e+01] [-8.42431621e-02 9.96444903e-01 -8.03688522e-04 -5.28250767e-01] [-1.39766594e-02 -3.75161757e-04 9.99902251e-01 -4.39449985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.53, Z:-0.44 [[ 9.96598805e-01 8.09903075e-02 1.52116047e-02 1.10283147e+01] [-8.09863228e-02 9.96714825e-01 -8.78782404e-04 -5.28867677e-01] [-1.52328048e-02 -3.56138438e-04 9.99883911e-01 -4.39593879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.53, Z:-0.44 [[ 9.96728954e-01 7.92899624e-02 1.56362874e-02 1.10602634e+01] [-7.92854944e-02 9.96851538e-01 -9.06422609e-04 -5.29709249e-01] [-1.56589274e-02 -3.36273120e-04 9.99877335e-01 -4.40642394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.53, Z:-0.44 [[ 9.96873024e-01 7.74538279e-02 1.56549856e-02 1.10933436e+01] [-7.74490802e-02 9.96995893e-01 -9.10224826e-04 -5.31024324e-01] [-1.56784568e-02 -3.05085663e-04 9.99877039e-01 -4.40961090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.53, Z:-0.44 [[ 9.97040100e-01 7.52701642e-02 1.56665491e-02 1.11255495e+01] [-7.52650926e-02 9.97163141e-01 -9.13911726e-04 -5.32204018e-01] [-1.56908956e-02 -2.67937627e-04 9.99876854e-01 -4.39346432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.53, Z:-0.44 [[ 9.97325831e-01 7.14830545e-02 1.52105054e-02 1.11571251e+01] [-7.14777904e-02 9.97441794e-01 -8.90138820e-04 -5.33278761e-01] [-1.52352237e-02 -1.99454881e-04 9.99883917e-01 -4.42352682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.54, Z:-0.44 [[ 9.97458871e-01 6.97235554e-02 1.46432979e-02 1.11904595e+01] [-6.97184676e-02 9.97566338e-01 -8.58261583e-04 -5.35060443e-01] [-1.46675021e-02 -1.64827663e-04 9.99892413e-01 -4.42943446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.54, Z:-0.44 [[ 9.97580939e-01 6.80448524e-02 1.42186050e-02 1.12234749e+01] [-6.80398485e-02 9.97682254e-01 -8.35931393e-04 -5.36980622e-01] [-1.42425308e-02 -1.33522509e-04 9.99898561e-01 -4.44198615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.54, Z:-0.45 [[ 9.97792874e-01 6.51355694e-02 1.29127315e-02 1.12553190e+01] [-6.51311713e-02 9.97876421e-01 -7.61280679e-04 -5.38115000e-01] [-1.29348968e-02 -8.14208921e-05 9.99916337e-01 -4.45633245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.54, Z:-0.45 [[ 9.97847244e-01 6.42518250e-02 1.31369893e-02 1.12881391e+01] [-6.42471629e-02 9.97933714e-01 -7.77040347e-04 -5.40048449e-01] [-1.31597708e-02 -6.86467212e-05 9.99913404e-01 -4.46445235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.54, Z:-0.45 [[ 9.97948119e-01 6.26012074e-02 1.34402956e-02 1.13195880e+01] [-6.25961415e-02 9.98038620e-01 -7.97672809e-04 -5.41971923e-01] [-1.34638694e-02 -4.52745681e-05 9.99909357e-01 -4.46887246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.54, Z:-0.45 [[ 9.97969266e-01 6.23609150e-02 1.29792565e-02 1.13526543e+01] [-6.23561432e-02 9.98053663e-01 -7.72397921e-04 -5.44324772e-01] [-1.30021620e-02 -3.85069938e-05 9.99915468e-01 -4.47518859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.55, Z:-0.45 [[ 9.97972029e-01 6.23407924e-02 1.28629494e-02 1.13858317e+01] [-6.23360737e-02 9.98054921e-01 -7.67834567e-04 -5.46340668e-01] [-1.28857973e-02 -3.55483406e-05 9.99916974e-01 -4.48496072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.55, Z:-0.45 [[ 9.97965892e-01 6.25332915e-02 1.23962435e-02 1.14182645e+01] [-6.25288955e-02 9.98042878e-01 -7.42261911e-04 -5.47769682e-01] [-1.24183986e-02 -3.43713456e-05 9.99922888e-01 -4.49116435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.55, Z:-0.45 [[ 9.97962609e-01 6.26454825e-02 1.20902777e-02 1.14498940e+01] [-6.26412791e-02 9.98035842e-01 -7.26419684e-04 -5.49247806e-01] [-1.21120374e-02 -3.24107760e-05 9.99926646e-01 -4.49745172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.55, Z:-0.45 [[ 9.97943431e-01 6.29126719e-02 1.22843420e-02 1.14828302e+01] [-6.29083408e-02 9.98019035e-01 -7.39051320e-04 -5.50803147e-01] [-1.23065029e-02 -3.52561653e-05 9.99924272e-01 -4.50669487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.55, Z:-0.45 [[ 9.97935223e-01 6.30066437e-02 1.24680817e-02 1.15160261e+01] [-6.30021602e-02 9.98013107e-01 -7.52434555e-04 -5.52227002e-01] [-1.24907173e-02 -3.46351338e-05 9.99921987e-01 -4.51321049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.55, Z:-0.45 [[ 9.97924451e-01 6.32171976e-02 1.22627748e-02 1.15488684e+01] [-6.32128506e-02 9.97999792e-01 -7.42148860e-04 -5.52851631e-01] [-1.22851633e-02 -3.45564581e-05 9.99924534e-01 -4.52237650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.55, Z:-0.45 [[ 9.97925093e-01 6.32682131e-02 1.19432429e-02 1.15805616e+01] [-6.32640652e-02 9.97996559e-01 -7.25163269e-04 -5.54224201e-01] [-1.19651951e-02 -3.19194732e-05 9.99928414e-01 -4.52826277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.56, Z:-0.45 [[ 9.97915765e-01 6.33796157e-02 1.21305818e-02 1.16124080e+01] [-6.33753159e-02 9.97989491e-01 -7.38924655e-04 -5.55985106e-01] [-1.21530259e-02 -3.13948907e-05 9.99926149e-01 -4.53194482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.56, Z:-0.45 [[ 9.97906139e-01 6.33808638e-02 1.28920062e-02 1.16449223e+01] [-6.33759779e-02 9.97989411e-01 -7.87582116e-04 -5.56612072e-01] [-1.29160033e-02 -3.11104721e-05 9.99916584e-01 -4.53875637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.56, Z:-0.45 [[ 9.97885067e-01 6.37037597e-02 1.29314812e-02 1.16781706e+01] [-6.36988418e-02 9.97968852e-01 -7.92247875e-04 -5.57633403e-01] [-1.29556846e-02 -3.31480497e-05 9.99916071e-01 -4.54618738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.56, Z:-0.45 [[ 9.97867275e-01 6.39899883e-02 1.28912138e-02 1.17102689e+01] [-6.39850917e-02 9.97950540e-01 -7.92342748e-04 -5.58866223e-01] [-1.29154958e-02 -3.41926000e-05 9.99916591e-01 -4.54951337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.56, Z:-0.46 [[ 9.97896416e-01 6.35087903e-02 1.30144354e-02 1.17435869e+01] [-6.35037274e-02 9.97981279e-01 -8.02323137e-04 -5.59890798e-01] [-1.30391175e-02 -2.58297771e-05 9.99914987e-01 -4.56057698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.56, Z:-0.46 [[ 9.97937675e-01 6.29693792e-02 1.24601271e-02 1.17755804e+01] [-6.29646701e-02 9.98015459e-01 -7.70251539e-04 -5.61563188e-01] [-1.24839018e-02 -1.58847644e-05 9.99922073e-01 -4.56537449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.56, Z:-0.46 [[ 9.98041348e-01 6.13490077e-02 1.22379148e-02 1.18084389e+01] [-6.13443218e-02 9.98116376e-01 -7.58264167e-04 -5.62611416e-01] [-1.22613819e-02 6.05240897e-06 9.99924826e-01 -4.57714482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.56, Z:-0.46 [[ 9.98095302e-01 6.04634578e-02 1.22448971e-02 1.18402513e+01] [-6.04586703e-02 9.98170411e-01 -7.61115602e-04 -5.64673500e-01] [-1.22685136e-02 1.93557111e-05 9.99924739e-01 -4.58648626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.57, Z:-0.46 [[ 9.98151719e-01 5.95812259e-02 1.19675579e-02 1.18732573e+01] [-5.95765665e-02 9.98223460e-01 -7.45787653e-04 -5.66506379e-01] [-1.19907320e-02 3.14232219e-05 9.99928108e-01 -4.59677185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.57, Z:-0.46 [[ 9.98274113e-01 5.76579517e-02 1.11515329e-02 1.19053863e+01] [-5.76537636e-02 9.98336395e-01 -6.96939946e-04 -5.68219607e-01] [-1.11731653e-02 5.28092636e-05 9.99937577e-01 -4.61166686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.57, Z:-0.46 [[ 9.98318329e-01 5.69954831e-02 1.05843467e-02 1.19368100e+01] [-5.69916541e-02 9.98374434e-01 -6.63271302e-04 -5.70712663e-01] [-1.06049447e-02 5.89364695e-05 9.99943764e-01 -4.62117628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.97, Y:-0.57, Z:-0.46 [[ 9.98352742e-01 5.64301503e-02 1.03653245e-02 1.19698177e+01] [-5.64264290e-02 9.98406547e-01 -6.51349755e-04 -5.73192754e-01] [-1.03855636e-02 6.53985697e-05 9.99946066e-01 -4.62920596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.58, Z:-0.46 [[ 9.98359055e-01 5.64012745e-02 9.90417358e-03 1.20028413e+01] [-5.63978601e-02 9.98408179e-01 -6.23915000e-04 -5.75793302e-01] [-9.92359751e-03 6.43169937e-05 9.99950758e-01 -4.63588059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.58, Z:-0.46 [[ 9.98356004e-01 5.65267718e-02 9.48753014e-03 1.20347343e+01] [-5.65236294e-02 9.98401082e-01 -5.99241655e-04 -5.77730142e-01] [-9.50623355e-03 6.19868663e-05 9.99954813e-01 -4.64754186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.58, Z:-0.47 [[ 9.98331718e-01 5.69489503e-02 9.51829430e-03 1.20673281e+01] [-5.69457947e-02 9.98377090e-01 -6.02440801e-04 -5.80472199e-01] [-9.53715534e-03 5.94089269e-05 9.99954519e-01 -4.65443129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:12.10, Y:-0.58, Z:-0.46 [[ 9.98306335e-01 5.73506123e-02 9.76568628e-03 1.20999726e+01] [-5.73472919e-02 9.98354097e-01 -6.19924775e-04 -5.82948138e-01] [-9.78516598e-03 5.88391690e-05 9.99952122e-01 -4.63470933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.59, Z:-0.47 [[ 9.98262631e-01 5.80950516e-02 9.83282409e-03 1.21322016e+01] [-5.80916961e-02 9.98311055e-01 -6.26768563e-04 -5.85579441e-01] [-9.85262914e-03 5.44742063e-05 9.99951460e-01 -4.65987963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.59, Z:-0.47 [[ 9.98222180e-01 5.86900912e-02 1.03900588e-02 1.21654654e+01] [-5.86863702e-02 9.98276250e-01 -6.62916496e-04 -5.87152042e-01] [-1.04110556e-02 5.19831099e-05 9.99945802e-01 -4.66786159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.59, Z:-0.47 [[ 9.98193982e-01 5.91775479e-02 1.03339984e-02 1.21974795e+01] [-5.91738703e-02 9.98247472e-01 -6.61531411e-04 -5.89539049e-01] [-1.03550356e-02 4.88339903e-05 9.99946384e-01 -4.67493098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.59, Z:-0.47 [[ 9.98149847e-01 5.98561989e-02 1.06826507e-02 1.22294839e+01] [-5.98522781e-02 9.98207009e-01 -6.86637374e-04 -5.92368079e-01] [-1.07045963e-02 4.59860089e-05 9.99942703e-01 -4.67731322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:-0.59, Z:-0.47 [[ 9.98098184e-01 6.06426424e-02 1.10672986e-02 1.22622932e+01] [-6.06384738e-02 9.98159541e-01 -7.12147686e-04 -5.94059886e-01] [-1.10901162e-02 3.96892191e-05 9.99938502e-01 -4.68353046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.60, Z:-0.47 [[ 9.98040971e-01 6.15814499e-02 1.10428904e-02 1.22950869e+01] [-6.15773358e-02 9.98102061e-01 -7.12496683e-04 -5.95841872e-01] [-1.10658083e-02 3.11091084e-05 9.99938772e-01 -4.68643343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.60, Z:-0.47 [[ 9.97940680e-01 6.31434578e-02 1.12828410e-02 1.23276837e+01] [-6.31392380e-02 9.98004461e-01 -7.30171281e-04 -5.99376742e-01] [-1.13064312e-02 1.62776429e-05 9.99936080e-01 -4.69167018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.60, Z:-0.47 [[ 9.97887500e-01 6.39696484e-02 1.13322767e-02 1.23602916e+01] [-6.39654198e-02 9.97951845e-01 -7.35571033e-04 -6.01733603e-01] [-1.13561206e-02 9.14330562e-06 9.99935517e-01 -4.69283005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.60, Z:-0.47 [[ 9.97807516e-01 6.52188188e-02 1.12546623e-02 1.23922253e+01] [-6.52146970e-02 9.97870986e-01 -7.33236223e-04 -6.02750192e-01] [-1.12785217e-02 -2.34077360e-06 9.99936395e-01 -4.70699501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.61, Z:-0.47 [[ 9.97796712e-01 6.54636902e-02 1.07808307e-02 1.24251317e+01] [-6.54599147e-02 9.97854952e-01 -7.03080009e-04 -6.05813314e-01] [-1.08037315e-02 -4.18133461e-06 9.99941638e-01 -4.71566181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.61, Z:-0.47 [[ 9.97833009e-01 6.49408241e-02 1.05818444e-02 1.24583322e+01] [-6.49371396e-02 9.97889117e-01 -6.91768603e-04 -6.09362368e-01] [-1.06044314e-02 3.11483926e-06 9.99943771e-01 -4.72589824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928623853000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.61, Z:-0.47 [[ 9.97896232e-01 6.39563863e-02 1.06155983e-02 1.24900651e+01] [-6.39525947e-02 9.97952694e-01 -6.96595913e-04 -6.12306780e-01] [-1.06384167e-02 1.62353826e-05 9.99943410e-01 -4.73052947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.62, Z:-0.47 [[ 9.98029070e-01 6.17982202e-02 1.09066687e-02 1.25227223e+01] [-6.17940806e-02 9.98088663e-01 -7.16460517e-04 -6.15259232e-01] [-1.09300983e-02 4.10808622e-05 9.99940264e-01 -4.74090966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.62, Z:-0.47 [[ 9.98108113e-01 6.04502361e-02 1.12233723e-02 1.25560476e+01] [-6.04457433e-02 9.98171210e-01 -7.39403268e-04 -6.18682707e-01] [-1.12475442e-02 5.95993190e-05 9.99936743e-01 -4.73811148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.62, Z:-0.47 [[ 9.98173193e-01 5.93261452e-02 1.14317350e-02 1.25885714e+01] [-5.93213845e-02 9.98238650e-01 -7.55378033e-04 -6.23118877e-01] [-1.14564134e-02 7.58517565e-05 9.99934370e-01 -4.73452576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.63, Z:-0.47 [[ 9.98168243e-01 5.94094182e-02 1.14315356e-02 1.26219778e+01] [-5.94046286e-02 9.98233698e-01 -7.58381968e-04 -6.25476802e-01] [-1.14563990e-02 7.79066728e-05 9.99934370e-01 -4.74099379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.63, Z:-0.48 [[ 9.98222384e-01 5.84495704e-02 1.16499020e-02 1.26547920e+01] [-5.84445288e-02 9.98290358e-01 -7.73034479e-04 -6.29850498e-01] [-1.16751684e-02 9.07872867e-05 9.99931839e-01 -4.75672912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.64, Z:-0.48 [[ 9.98276139e-01 5.74838566e-02 1.18472513e-02 1.26879847e+01] [-5.74785465e-02 9.98346430e-01 -7.88502835e-04 -6.35229745e-01] [-1.18729872e-02 1.06180781e-04 9.99929508e-01 -4.75766256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.64, Z:-0.47 [[ 9.98252505e-01 5.78513269e-02 1.20482324e-02 1.27194445e+01] [-5.78458319e-02 9.98325204e-01 -8.04363863e-04 -6.38541543e-01] [-1.20745876e-02 1.06018213e-04 9.99927094e-01 -4.74648762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.64, Z:-0.48 [[ 9.98157033e-01 5.94155582e-02 1.23421230e-02 1.27515647e+01] [-5.94098823e-02 9.98233331e-01 -8.26331985e-04 -6.42767606e-01] [-1.23694155e-02 9.15650110e-05 9.99923492e-01 -4.75896306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.65, Z:-0.48 [[ 9.98069942e-01 6.07746544e-02 1.27605831e-02 1.27848857e+01] [-6.07686688e-02 9.98151509e-01 -8.56638007e-04 -6.45759425e-01] [-1.27890572e-02 7.95409949e-05 9.99918214e-01 -4.75623455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.65, Z:-0.48 [[ 9.97976584e-01 6.22731938e-02 1.28369502e-02 1.28166118e+01] [-6.22672236e-02 9.98059139e-01 -8.64622207e-04 -6.49495891e-01] [-1.28658782e-02 6.35514702e-05 9.99917229e-01 -4.76784901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.65, Z:-0.48 [[ 9.97777236e-01 6.52847059e-02 1.33601709e-02 1.28491102e+01] [-6.52784933e-02 9.97866678e-01 -9.01037821e-04 -6.54606944e-01] [-1.33904934e-02 2.69031980e-05 9.99910343e-01 -4.77010759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.66, Z:-0.48 [[ 9.97685296e-01 6.67502242e-02 1.29791215e-02 1.28805047e+01] [-6.67444476e-02 9.97769717e-01 -8.78202482e-04 -6.58094686e-01] [-1.30087946e-02 9.88540967e-06 9.99915382e-01 -4.77607950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.66, Z:-0.48 [[ 9.97595289e-01 6.81302044e-02 1.27245543e-02 1.29120758e+01] [-6.81247501e-02 9.97676438e-01 -8.62106928e-04 -6.61586769e-01] [-1.27537235e-02 -6.82327211e-06 9.99918668e-01 -4.78334581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.67, Z:-0.48 [[ 9.97433856e-01 7.04994743e-02 1.24710209e-02 1.29435098e+01] [-7.04943938e-02 9.97511816e-01 -8.47048489e-04 -6.65666906e-01] [-1.24997071e-02 -3.42622142e-05 9.99921875e-01 -4.79646690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.67, Z:-0.48 [[ 9.97369626e-01 7.14621810e-02 1.21238062e-02 1.29766740e+01] [-7.14574274e-02 9.97443309e-01 -8.25371744e-04 -6.68999400e-01] [-1.21517923e-02 -4.31352977e-05 9.99926163e-01 -4.80583491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.67, Z:-0.48 [[ 9.97282674e-01 7.26999761e-02 1.19155954e-02 1.30098845e+01] [-7.26954466e-02 9.97353854e-01 -8.13385299e-04 -6.72803313e-01] [-1.19431981e-02 -5.50344620e-05 9.99928676e-01 -4.81187501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.68, Z:-0.48 [[ 9.97193617e-01 7.38651802e-02 1.21994275e-02 1.30411766e+01] [-7.38604841e-02 9.97268234e-01 -8.35649621e-04 -6.76865982e-01] [-1.22278269e-02 -6.77511502e-05 9.99925235e-01 -4.81904053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.68, Z:-0.48 [[ 9.96951488e-01 7.69929170e-02 1.26420324e-02 1.30733581e+01] [-7.69881104e-02 9.97031634e-01 -8.67160747e-04 -6.80422465e-01] [-1.26712715e-02 -1.08768989e-04 9.99919710e-01 -4.82305369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.68, Z:-0.48 [[ 9.96790245e-01 7.90311967e-02 1.27780218e-02 1.31059620e+01] [-7.90264249e-02 9.96872134e-01 -8.78716139e-04 -6.82590580e-01] [-1.28074999e-02 -1.33905708e-04 9.99917972e-01 -4.83341893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.69, Z:-0.48 [[ 9.96504290e-01 8.24562643e-02 1.34225687e-02 1.31383031e+01] [-8.24512753e-02 9.96594667e-01 -9.25581292e-04 -6.85878157e-01] [-1.34531803e-02 -1.84362178e-04 9.99909485e-01 -4.83775303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.69, Z:-0.48 [[ 9.96350205e-01 8.42610053e-02 1.36511105e-02 1.31703853e+01] [-8.42559772e-02 9.96443696e-01 -9.44056008e-04 -6.88792151e-01] [-1.36821101e-02 -2.09577258e-04 9.99906374e-01 -4.84249152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.69, Z:-0.48 [[ 9.96192950e-01 8.61411318e-02 1.33907180e-02 1.32030718e+01] [-8.61364335e-02 9.96282918e-01 -9.28282014e-04 -6.90834268e-01] [-1.34209069e-02 -2.28680691e-04 9.99909909e-01 -4.84878830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.69, Z:-0.49 [[ 9.95955723e-01 8.89343382e-02 1.27624676e-02 1.32348708e+01] [-8.89302702e-02 9.96037459e-01 -8.87026091e-04 -6.91662424e-01] [-1.27907829e-02 -2.51530982e-04 9.99918163e-01 -4.85847426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.69, Z:-0.49 [[ 9.95836344e-01 9.02822595e-02 1.26130618e-02 1.32682016e+01] [-9.02783689e-02 9.95916183e-01 -8.78647597e-04 -6.93834278e-01] [-1.26408787e-02 -2.63697435e-04 9.99920066e-01 -4.86742085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.70, Z:-0.49 [[ 9.95720635e-01 9.15884738e-02 1.23275388e-02 1.33001049e+01] [-9.15848278e-02 9.95796906e-01 -8.61157457e-04 -6.95818737e-01] [-1.23545971e-02 -2.71543264e-04 9.99923642e-01 -4.87285170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.70, Z:-0.49 [[ 9.95621258e-01 9.28107520e-02 1.11568649e-02 1.33316605e+01] [-9.28078225e-02 9.95683734e-01 -7.81147146e-04 -6.96975224e-01] [-1.11812078e-02 -2.57717635e-04 9.99937455e-01 -4.87777624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.70, Z:-0.49 [[ 9.95633424e-01 9.27113071e-02 1.08948836e-02 1.33642388e+01] [-9.27084890e-02 9.95693001e-01 -7.64507635e-04 -6.98642818e-01] [-1.09188379e-02 -2.48878846e-04 9.99940357e-01 -4.88668872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.70, Z:-0.49 [[ 9.95652480e-01 9.24802276e-02 1.11151110e-02 1.33965055e+01] [-9.24772505e-02 9.95714490e-01 -7.82611450e-04 -7.00701557e-01] [-1.11398532e-02 -2.48685873e-04 9.99937919e-01 -4.89360443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.70, Z:-0.49 [[ 9.95709596e-01 9.18217035e-02 1.14532066e-02 1.34292409e+01] [-9.18184895e-02 9.95775433e-01 -8.07246314e-04 -7.02333758e-01] [-1.14789445e-02 -2.47833229e-04 9.99934084e-01 -4.89694002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.70, Z:-0.49 [[ 9.95873031e-01 8.99503586e-02 1.20764255e-02 1.34617995e+01] [-8.99466187e-02 9.95946222e-01 -8.53567946e-04 -7.02561596e-01] [-1.21042491e-02 -2.36188343e-04 9.99926713e-01 -4.89693965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.70, Z:-0.49 [[ 9.95963220e-01 8.89270119e-02 1.22168532e-02 1.34951514e+01] [-8.89230802e-02 9.96038120e-01 -8.65736554e-04 -7.03935373e-01] [-1.22454388e-02 -2.24118447e-04 9.99924997e-01 -4.90438194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.71, Z:-0.49 [[ 9.96089978e-01 8.74732668e-02 1.23766994e-02 1.35276772e+01] [-8.74690825e-02 9.96166846e-01 -8.80019188e-04 -7.05638999e-01] [-1.24062357e-02 -2.06000244e-04 9.99923018e-01 -4.90983701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.71, Z:-0.49 [[ 9.96354546e-01 8.43803228e-02 1.25531057e-02 1.35600792e+01] [-8.43757677e-02 9.96433607e-01 -8.92985049e-04 -7.06846475e-01] [-1.25836867e-02 -1.69448213e-04 9.99920808e-01 -4.91795113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.71, Z:-0.49 [[ 9.96501063e-01 8.26376029e-02 1.25162963e-02 1.35925717e+01] [-8.26329111e-02 9.96579653e-01 -8.92431079e-04 -7.09022684e-01] [-1.25472346e-02 -1.44949479e-04 9.99921270e-01 -4.92414808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.71, Z:-0.49 [[ 9.96635211e-01 8.09475982e-02 1.28740817e-02 1.36244701e+01] [-8.09424596e-02 9.96718351e-01 -9.20554662e-04 -7.10984937e-01] [-1.29063502e-02 -1.24602647e-04 9.99916702e-01 -4.92454329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.71, Z:-0.49 [[ 9.96909332e-01 7.74755257e-02 1.30125547e-02 1.36578012e+01] [-7.74699503e-02 9.96994251e-01 -9.32732488e-04 -7.12560301e-01] [-1.30457061e-02 -7.82322421e-05 9.99914898e-01 -4.92695320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.71, Z:-0.49 [[ 9.97049641e-01 7.57351404e-02 1.24981025e-02 1.36912434e+01] [-7.57298331e-02 9.97127969e-01 -8.98044546e-04 -7.14373681e-01] [-1.25302211e-02 -5.10842217e-05 9.99921492e-01 -4.91778138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.72, Z:-0.49 [[ 9.97153128e-01 7.43580402e-02 1.25108716e-02 1.37226571e+01] [-7.43525830e-02 9.97231608e-01 -9.01405021e-04 -7.16414759e-01] [-1.25432633e-02 -3.13767849e-05 9.99921330e-01 -4.94918361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.72, Z:-0.50 [[ 9.97379112e-01 7.13595357e-02 1.19466728e-02 1.37556968e+01] [-7.13543226e-02 9.97450659e-01 -8.62581326e-04 -7.19422763e-01] [-1.19777701e-02 7.87385036e-06 9.99928264e-01 -4.95645070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.72, Z:-0.50 [[ 9.97460655e-01 7.02261019e-02 1.18547816e-02 1.37890309e+01] [-7.02208621e-02 9.97531099e-01 -8.58180568e-04 -7.22495751e-01] [-1.18857800e-02 2.35483710e-05 9.99929361e-01 -4.96530499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.72, Z:-0.50 [[ 9.97518586e-01 6.94226712e-02 1.17116678e-02 1.38210287e+01] [-6.94174748e-02 9.97587335e-01 -8.50119382e-04 -7.24536470e-01] [-1.17424290e-02 3.50154828e-05 9.99931055e-01 -4.96123461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.73, Z:-0.50 [[ 9.97620079e-01 6.79237023e-02 1.18553303e-02 1.38543049e+01] [-6.79182372e-02 9.97690517e-01 -8.63454020e-04 -7.26605141e-01] [-1.18865996e-02 5.62059319e-05 9.99929350e-01 -4.98194127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.73, Z:-0.50 [[ 9.97655254e-01 6.74110857e-02 1.18211413e-02 1.38862045e+01] [-6.74056129e-02 9.97725284e-01 -8.61230921e-04 -7.29400841e-01] [-1.18523080e-02 6.24002799e-05 9.99929757e-01 -4.98365779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.73, Z:-0.50 [[ 9.97690437e-01 6.68570648e-02 1.19968681e-02 1.39185976e+01] [-6.68513644e-02 9.97762561e-01 -8.75993020e-04 -7.32427702e-01] [-1.20285922e-02 7.19628564e-05 9.99927651e-01 -4.99464268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.74, Z:-0.50 [[ 9.97732497e-01 6.61904189e-02 1.21939398e-02 1.39518105e+01] [-6.61844507e-02 9.97807006e-01 -8.92776017e-04 -7.35450367e-01] [-1.22262918e-02 8.37024375e-05 9.99925253e-01 -4.99200064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.74, Z:-0.50 [[ 9.97711399e-01 6.64320981e-02 1.25992518e-02 1.39839850e+01] [-6.64257111e-02 9.97790944e-01 -9.25193221e-04 -7.37211584e-01] [-1.26328819e-02 8.61615597e-05 9.99920198e-01 -4.99268232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.74, Z:-0.50 [[ 9.97674130e-01 6.69815475e-02 1.26412885e-02 1.40153782e+01] [-6.69751316e-02 9.97754211e-01 -9.30670048e-04 -7.39621946e-01] [-1.26752365e-02 8.18534716e-05 9.99919663e-01 -5.00328070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.74, Z:-0.50 [[ 9.97558623e-01 6.86683034e-02 1.27065826e-02 1.40482475e+01] [-6.86619284e-02 9.97639544e-01 -9.37790409e-04 -7.41059768e-01] [-1.27409858e-02 6.30424410e-05 9.99918828e-01 -5.01151293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.74, Z:-0.50 [[ 9.97475073e-01 6.98808184e-02 1.26550602e-02 1.40807381e+01] [-6.98745622e-02 9.97555346e-01 -9.36386132e-04 -7.42508590e-01] [-1.26895583e-02 4.97550376e-05 9.99919483e-01 -5.02612776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.74, Z:-0.50 [[ 9.97407988e-01 7.09452948e-02 1.20029142e-02 1.41138791e+01] [-7.09397189e-02 9.97480207e-01 -8.90205335e-04 -7.44299193e-01] [-1.20358253e-02 3.64145515e-05 9.99927566e-01 -5.03001317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.75, Z:-0.50 [[ 9.97279227e-01 7.28925356e-02 1.09919118e-02 1.41461666e+01] [-7.28879508e-02 9.97339801e-01 -8.17666467e-04 -7.45293841e-01] [-1.10222729e-02 1.42638536e-05 9.99939253e-01 -5.03969785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.75, Z:-0.51 [[ 9.97208790e-01 7.38954647e-02 1.06812672e-02 1.41788164e+01] [-7.38911866e-02 9.97265993e-01 -7.95143344e-04 -7.46971914e-01] [-1.07108220e-02 3.67242279e-06 9.99942637e-01 -5.05046845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.75, Z:-0.51 [[ 9.97128700e-01 7.50067225e-02 1.04089697e-02 1.42105328e+01] [-7.50026987e-02 9.97183028e-01 -7.76946499e-04 -7.48701336e-01] [-1.04379241e-02 -5.98516249e-06 9.99945523e-01 -5.05437245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.75, Z:-0.51 [[ 9.97043667e-01 7.61574250e-02 1.01966594e-02 1.42433920e+01] [-7.61536061e-02 9.97095806e-01 -7.62834095e-04 -7.49181521e-01] [-1.02251418e-02 -1.59334815e-05 9.99947722e-01 -5.06041345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.75, Z:-0.51 [[ 9.97030993e-01 7.63469816e-02 1.00169012e-02 1.42768368e+01] [-7.63432871e-02 9.97081310e-01 -7.51241004e-04 -7.50523344e-01] [-1.00450200e-02 -1.57126020e-05 9.99949547e-01 -5.06817955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.75, Z:-0.51 [[ 9.97017862e-01 7.64541756e-02 1.04948448e-02 1.43091271e+01] [-7.64501012e-02 9.97073096e-01 -7.89440485e-04 -7.51878038e-01] [-1.05244834e-02 -1.52456824e-05 9.99944616e-01 -5.08092861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.75, Z:-0.51 [[ 9.97018672e-01 7.64083549e-02 1.07484888e-02 1.43414131e+01] [-7.64040509e-02 9.97076608e-01 -8.11083877e-04 -7.53839802e-01] [-1.07790403e-02 -1.25623130e-05 9.99941904e-01 -5.08572877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.76, Z:-0.51 [[ 9.97085984e-01 7.55262664e-02 1.07388578e-02 1.43732583e+01] [-7.55219049e-02 9.97143813e-01 -8.11668952e-04 -7.55828981e-01] [-1.07694879e-02 -1.71526150e-06 9.99942007e-01 -5.09362648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.76, Z:-0.51 [[ 9.97145830e-01 7.47959165e-02 1.02841825e-02 1.44063629e+01] [-7.47918733e-02 9.97198862e-01 -7.77718968e-04 -7.58240156e-01] [-1.03135453e-02 6.32594884e-06 9.99946814e-01 -5.09988591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.76, Z:-0.51 [[ 9.97288911e-01 7.28005670e-02 1.07193661e-02 1.44386379e+01] [-7.27960334e-02 9.97346518e-01 -8.13020033e-04 -7.61818771e-01] [-1.07501108e-02 3.04885309e-05 9.99942215e-01 -5.10431348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.77, Z:-0.51 [[ 9.97370502e-01 7.15874979e-02 1.12832743e-02 1.44706132e+01] [-7.15823713e-02 9.97434323e-01 -8.58077601e-04 -7.65244731e-01] [-1.13157526e-02 4.81377601e-05 9.99935974e-01 -5.09427736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.77, Z:-0.51 [[ 9.97439073e-01 7.05501731e-02 1.17460367e-02 1.45034334e+01] [-7.05445194e-02 9.97508230e-01 -8.95475927e-04 -7.68901369e-01] [-1.17799443e-02 6.45641627e-05 9.99930612e-01 -5.10682303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.77, Z:-0.51 [[ 9.97592797e-01 6.82206320e-02 1.24320462e-02 1.45356439e+01] [-6.82140838e-02 9.97670254e-01 -9.50491737e-04 -7.72355318e-01] [-1.24679259e-02 1.00163066e-04 9.99922267e-01 -5.10543331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.78, Z:-0.51 [[ 9.97653107e-01 6.73012482e-02 1.26024201e-02 1.45670220e+01] [-6.72944162e-02 9.97732694e-01 -9.65864520e-04 -7.75808313e-01] [-1.26388505e-02 1.15525233e-04 9.99920120e-01 -5.10603817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.78, Z:-0.51 [[ 9.97706588e-01 6.64032234e-02 1.31215969e-02 1.45996527e+01] [-6.63957083e-02 9.97792861e-01 -1.00800916e-03 -7.79201914e-01] [-1.31595708e-02 1.34479658e-04 9.99913400e-01 -5.11160089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.78, Z:-0.51 [[ 9.97761729e-01 6.54824747e-02 1.35491010e-02 1.46317085e+01] [-6.54743373e-02 9.97853708e-01 -1.04377836e-03 -7.83725763e-01] [-1.35883698e-02 1.54323691e-04 9.99907662e-01 -5.11470088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.79, Z:-0.51 [[ 9.97756119e-01 6.55679437e-02 1.35488617e-02 1.46650871e+01] [-6.55597721e-02 9.97848095e-01 -1.04687433e-03 -7.86442898e-01] [-1.35883472e-02 1.56264986e-04 9.99907662e-01 -5.12116881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.79, Z:-0.51 [[ 9.97747982e-01 6.57602222e-02 1.32120586e-02 1.46980538e+01] [-6.57524629e-02 9.97835443e-01 -1.02128076e-03 -7.90191420e-01] [-1.32506200e-02 1.50255425e-04 9.99912195e-01 -5.12985306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.79, Z:-0.51 [[ 9.97723778e-01 6.61681407e-02 1.30015305e-02 1.47293765e+01] [-6.61606278e-02 9.97808477e-01 -1.00758598e-03 -7.93819031e-01] [-1.30397074e-02 1.45103072e-04 9.99914969e-01 -5.13774341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.80, Z:-0.52 [[ 9.97662081e-01 6.73259100e-02 1.17300838e-02 1.47620052e+01] [-6.73198545e-02 9.97731030e-01 -9.10773309e-04 -7.99603252e-01] [-1.17647872e-02 1.18976460e-04 9.99930785e-01 -5.15339844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.80, Z:-0.52 [[ 9.97604898e-01 6.83101009e-02 1.08718580e-02 1.47950750e+01] [-6.83049374e-02 9.97664132e-01 -8.45982850e-04 -8.03543962e-01] [-1.09042519e-02 1.01355055e-04 9.99940542e-01 -5.15828535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.81, Z:-0.52 [[ 9.97535448e-01 6.93131358e-02 1.08958192e-02 1.48265857e+01] [-6.93079846e-02 9.97594948e-01 -8.50107104e-04 -8.06850265e-01] [-1.09285378e-02 9.28446997e-05 9.99940277e-01 -5.17114355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.81, Z:-0.52 [[ 9.97469785e-01 7.02384208e-02 1.09814957e-02 1.48591998e+01] [-7.02332226e-02 9.97530229e-01 -8.58759391e-04 -8.10434042e-01] [-1.10146918e-02 8.53207107e-05 9.99939333e-01 -5.17762312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.82, Z:-0.52 [[ 9.97327985e-01 7.22297065e-02 1.09434748e-02 1.48906387e+01] [-7.22246399e-02 9.97388021e-01 -8.57994514e-04 -8.15446673e-01] [-1.09768633e-02 6.53134153e-05 9.99939750e-01 -5.18034631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.82, Z:-0.52 [[ 9.97259982e-01 7.31409251e-02 1.10875220e-02 1.49231176e+01] [-7.31357589e-02 9.97321614e-01 -8.71237980e-04 -8.18332038e-01] [-1.11215485e-02 5.79564382e-05 9.99938152e-01 -5.18129066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.82, Z:-0.52 [[ 9.97201877e-01 7.39727253e-02 1.07913337e-02 1.49561091e+01] [-7.39678591e-02 9.97260264e-01 -8.49905255e-04 -8.21177090e-01] [-1.08246381e-02 4.93152675e-05 9.99941411e-01 -5.18313410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.83, Z:-0.52 [[ 9.97112981e-01 7.51651945e-02 1.07655415e-02 1.49876682e+01] [-7.51603974e-02 9.97171095e-01 -8.50067029e-04 -8.26345337e-01] [-1.07989823e-02 3.84704919e-05 9.99941689e-01 -5.20041092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.83, Z:-0.52 [[ 9.97049380e-01 7.60175339e-02 1.06709515e-02 1.50200946e+01] [-7.60128501e-02 9.97106481e-01 -8.44410743e-04 -8.30104789e-01] [-1.07042649e-02 3.07897736e-05 9.99942707e-01 -5.19956059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.83, Z:-0.52 [[ 9.96982836e-01 7.68715436e-02 1.07699132e-02 1.50530816e+01] [-7.68667995e-02 9.97041005e-01 -8.54355680e-04 -8.33297807e-01] [-1.08037207e-02 2.39291935e-05 9.99941638e-01 -5.20469095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.84, Z:-0.52 [[ 9.96886348e-01 7.81438432e-02 1.05426728e-02 1.50854137e+01] [-7.81393477e-02 9.96942094e-01 -8.38283702e-04 -8.37007979e-01] [-1.05759410e-02 1.18760061e-05 9.99944073e-01 -5.21020351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.84, Z:-0.52 [[ 9.96837370e-01 7.87000313e-02 1.10255265e-02 1.51182276e+01] [-7.86951234e-02 9.96898342e-01 -8.78946902e-04 -8.40438871e-01] [-1.10605023e-02 8.51194652e-06 9.99938831e-01 -5.21854152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.84, Z:-0.52 [[ 9.96764419e-01 7.95008704e-02 1.18450670e-02 1.51509428e+01] [-7.94952325e-02 9.96834797e-01 -9.46788982e-04 -8.43751691e-01] [-1.18828455e-02 2.09921760e-06 9.99929396e-01 -5.21934907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.85, Z:-0.52 [[ 9.96696919e-01 8.02770007e-02 1.22823361e-02 1.51825343e+01] [-8.02709651e-02 9.96772593e-01 -9.84393916e-04 -8.46724252e-01] [-1.23217202e-02 -4.77258904e-06 9.99924085e-01 -5.22218022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.85, Z:-0.52 [[ 9.96618743e-01 8.12079462e-02 1.25039899e-02 1.52142394e+01] [-8.12017341e-02 9.96697180e-01 -1.00454427e-03 -8.49546442e-01] [-1.25442685e-02 -1.41980173e-05 9.99921317e-01 -5.22568189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.85, Z:-0.52 [[ 9.96454842e-01 8.32136051e-02 1.23791966e-02 1.52476188e+01] [-8.32076444e-02 9.96531733e-01 -9.96672021e-04 -8.51349747e-01] [-1.24191989e-02 -3.69051271e-05 9.99922878e-01 -5.23826331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.85, Z:-0.52 [[ 9.96328393e-01 8.47425831e-02 1.21830972e-02 1.52805760e+01] [-8.47368976e-02 9.96402876e-01 -9.83043496e-04 -8.53573187e-01] [-1.22225788e-02 -5.29237145e-05 9.99925300e-01 -5.24480570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.86, Z:-0.53 [[ 9.96192227e-01 8.63827604e-02 1.17926235e-02 1.53138273e+01] [-8.63775233e-02 9.96262021e-01 -9.53661610e-04 -8.55757780e-01] [-1.18309228e-02 -6.85873251e-05 9.99930010e-01 -5.25120928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.86, Z:-0.53 [[ 9.96041567e-01 8.81425661e-02 1.14928595e-02 1.53462150e+01] [-8.81376832e-02 9.96107866e-01 -9.31650589e-04 -8.57874155e-01] [-1.15302458e-02 -8.49912988e-05 9.99933521e-01 -5.25943763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.86, Z:-0.52 [[ 9.95767017e-01 9.12034668e-02 1.14006656e-02 1.53779228e+01] [-9.11988392e-02 9.95832272e-01 -9.26208982e-04 -8.58148577e-01] [-1.14376241e-02 -1.17439110e-04 9.99934581e-01 -5.24970420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.86, Z:-0.53 [[ 9.95634126e-01 9.26309350e-02 1.14977240e-02 1.54109630e+01] [-9.26263010e-02 9.95700503e-01 -9.36045817e-04 -8.60312251e-01] [-1.15349963e-02 -1.33032482e-04 9.99933461e-01 -5.26787225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.86, Z:-0.53 [[ 9.95548506e-01 9.35965771e-02 1.10839105e-02 1.54425703e+01] [-9.35923068e-02 9.95610196e-01 -9.04490056e-04 -8.61594852e-01] [-1.11199115e-02 -1.36905029e-04 9.99938163e-01 -5.27452143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.86, Z:-0.53 [[ 9.95507510e-01 9.40747009e-02 1.07120376e-02 1.54751960e+01] [-9.40707199e-02 9.95565132e-01 -8.76008911e-04 -8.61198978e-01] [-1.07469414e-02 -1.35615636e-04 9.99942241e-01 -5.27919821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.86, Z:-0.53 [[ 9.95493795e-01 9.41978749e-02 1.09024650e-02 1.55082220e+01] [-9.41937375e-02 9.95553485e-01 -8.93504403e-04 -8.63586201e-01] [-1.09381532e-02 -1.37465833e-04 9.99940167e-01 -5.29697001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.86, Z:-0.53 [[ 9.95615306e-01 9.29704706e-02 1.03273683e-02 1.55409270e+01] [-9.29666742e-02 9.95668860e-01 -8.48108706e-04 -8.63389466e-01] [-1.03614881e-02 -1.15711072e-04 9.99946312e-01 -5.28528450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.87, Z:-0.53 [[ 9.95618830e-01 9.29262452e-02 1.03855301e-02 1.55727882e+01] [-9.29223803e-02 9.95672988e-01 -8.55106520e-04 -8.66078848e-01] [-1.04200537e-02 -1.13688027e-04 9.99945703e-01 -5.31321003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.87, Z:-0.53 [[ 9.95622454e-01 9.29392683e-02 9.91063679e-03 1.56042786e+01] [-9.29357328e-02 9.95671774e-01 -8.17687696e-04 -8.67644529e-01] [-9.94373661e-03 -1.06944062e-04 9.99950554e-01 -5.32016400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.87, Z:-0.53 [[ 9.95665018e-01 9.25499281e-02 9.25646547e-03 1.56370521e+01] [-9.25468144e-02 9.95708040e-01 -7.65067795e-04 -8.67259292e-01] [-9.28754407e-03 -9.49051526e-05 9.99956865e-01 -5.32749581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.87, Z:-0.53 [[ 9.95664712e-01 9.25665239e-02 9.12253558e-03 1.56686730e+01] [-9.25634833e-02 9.95706498e-01 -7.55861615e-04 -8.68940017e-01] [-9.15333543e-03 -9.18289329e-05 9.99958103e-01 -5.33477914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.87, Z:-0.53 [[ 9.95704626e-01 9.21178503e-02 9.30589436e-03 1.57013269e+01] [-9.21146512e-02 9.95748108e-01 -7.72718578e-04 -8.70809653e-01] [-9.33750787e-03 -8.78097504e-05 9.99956401e-01 -5.34401356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.87, Z:-0.53 [[ 9.95752622e-01 9.15706207e-02 9.56754079e-03 1.57344161e+01] [-9.15671950e-02 9.95798581e-01 -7.96413093e-04 -8.73264601e-01] [-9.60027158e-03 -8.30424476e-05 9.99953913e-01 -5.34564178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.87, Z:-0.54 [[ 9.95925560e-01 8.95720176e-02 1.04466794e-02 1.57661987e+01] [-8.95677970e-02 9.95980346e-01 -8.72110407e-04 -8.74551322e-01] [-1.04828040e-02 -6.71290118e-05 9.99945052e-01 -5.35539637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.88, Z:-0.54 [[ 9.96019061e-01 8.85376705e-02 1.03494864e-02 1.57980496e+01] [-8.85334471e-02 9.96072828e-01 -8.66420048e-04 -8.76522056e-01] [-1.03855530e-02 -5.33048239e-05 9.99946067e-01 -5.36148883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.88, Z:-0.54 [[ 9.96185746e-01 8.65863116e-02 1.08060535e-02 1.58308777e+01] [-8.65815838e-02 9.96244352e-01 -9.05440464e-04 -8.77450664e-01] [-1.08438686e-02 -3.36183456e-05 9.99941203e-01 -5.37275246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.88, Z:-0.54 [[ 9.96253634e-01 8.58097547e-02 1.07416654e-02 1.58642671e+01] [-8.58050161e-02 9.96311540e-01 -9.02073597e-04 -8.79560457e-01] [-1.07794519e-02 -2.29946730e-05 9.99941900e-01 -5.37799227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.88, Z:-0.54 [[ 9.96300335e-01 8.52907069e-02 1.05421907e-02 1.58962224e+01] [-8.52860856e-02 9.96356109e-01 -8.87974713e-04 -8.81888228e-01] [-1.05795120e-02 -1.44126710e-05 9.99944035e-01 -5.38800414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.88, Z:-0.54 [[ 9.96358326e-01 8.47108488e-02 9.70352906e-03 1.59283633e+01] [-8.47069014e-02 9.96405576e-01 -8.17814067e-04 -8.83041470e-01] [-9.73792819e-03 -7.12002470e-06 9.99952585e-01 -5.39182619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.88, Z:-0.54 [[ 9.96374076e-01 8.45961033e-02 9.06643913e-03 1.59600504e+01] [-8.45926343e-02 9.96415325e-01 -7.66111878e-04 -8.84701777e-01] [-9.09874897e-03 -3.61995490e-06 9.99958606e-01 -5.40397670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.89, Z:-0.54 [[ 9.96353443e-01 8.48735884e-02 8.73449478e-03 1.59930527e+01] [-8.48703782e-02 9.96391727e-01 -7.38209235e-04 -8.86415504e-01] [-8.76563281e-03 -5.78256303e-06 9.99961581e-01 -5.41066956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.89, Z:-0.54 [[ 9.96306624e-01 8.54154268e-02 8.79296378e-03 1.60256611e+01] [-8.54121792e-02 9.96345424e-01 -7.44890070e-04 -8.87974990e-01] [-8.82445433e-03 -8.88728730e-06 9.99961064e-01 -5.41608233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228623853000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.89, Z:-0.54 [[ 9.96235045e-01 8.61378300e-02 9.79844246e-03 1.60583782e+01] [-8.61338092e-02 9.96283230e-01 -8.32400477e-04 -8.87082003e-01] [-9.83372507e-03 -1.47106464e-05 9.99951648e-01 -5.40526831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.89, Z:-0.54 [[ 9.96185671e-01 8.66297107e-02 1.04595412e-02 1.60906046e+01] [-8.66251308e-02 9.96240580e-01 -8.90973460e-04 -8.89020895e-01] [-1.04974042e-02 -1.84841307e-05 9.99944901e-01 -5.42027568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.89, Z:-0.54 [[ 9.96179705e-01 8.65038261e-02 1.19617498e-02 1.61238160e+01] [-8.64977955e-02 9.96251518e-01 -1.02155786e-03 -8.90380920e-01] [-1.20052800e-02 -1.70097807e-05 9.99927934e-01 -5.41660476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.89, Z:-0.54 [[ 9.96219866e-01 8.60513312e-02 1.18805186e-02 1.61565927e+01] [-8.60453236e-02 9.96290705e-01 -1.01684272e-03 -8.93001432e-01] [-1.19239509e-02 -9.26414884e-06 9.99928907e-01 -5.42199197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.90, Z:-0.54 [[ 9.96262570e-01 8.56116835e-02 1.14687066e-02 1.61879947e+01] [-8.56060309e-02 9.96328580e-01 -9.83789330e-04 -8.95238876e-01] [-1.15108240e-02 -1.67796116e-06 9.99933748e-01 -5.43508561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.90, Z:-0.54 [[ 9.96443151e-01 8.36015538e-02 1.05748760e-02 1.62210675e+01] [-8.35966191e-02 9.96499262e-01 -9.08585958e-04 -8.95737913e-01] [-1.06138153e-02 2.13303767e-05 9.99943672e-01 -5.43849996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.90, Z:-0.54 [[ 9.96540680e-01 8.24741309e-02 1.02318280e-02 1.62528703e+01] [-8.24694307e-02 9.96593205e-01 -8.81157190e-04 -8.98050577e-01] [-1.02696430e-02 3.42959530e-05 9.99947265e-01 -5.43528502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.90, Z:-0.55 [[ 9.96738321e-01 8.00894147e-02 9.91998493e-03 1.62853205e+01] [-8.00848623e-02 9.96787682e-01 -8.55932411e-04 -9.01857823e-01] [-9.95666990e-03 5.87000069e-05 9.99950429e-01 -5.46680181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.90, Z:-0.55 [[ 9.96814089e-01 7.91334431e-02 9.97844958e-03 1.63172975e+01] [-7.91287676e-02 9.96864029e-01 -8.63111473e-04 -9.04722516e-01] [-1.00154584e-02 7.07792585e-05 9.99949842e-01 -5.47376802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.91, Z:-0.55 [[ 9.96859695e-01 7.85592814e-02 9.95935473e-03 1.63497940e+01] [-7.85545777e-02 9.96909441e-01 -8.63204099e-04 -9.07214199e-01] [-9.99638745e-03 7.81404696e-05 9.99950032e-01 -5.47162874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.91, Z:-0.55 [[ 9.96875756e-01 7.83349181e-02 1.01176509e-02 1.63815415e+01] [-7.83300302e-02 9.96927095e-01 -8.79088939e-04 -9.09350238e-01] [-1.01554237e-02 8.38265498e-05 9.99948429e-01 -5.47729063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.91, Z:-0.55 [[ 9.96884158e-01 7.81562310e-02 1.06573853e-02 1.64143602e+01] [-7.81507758e-02 9.96941119e-01 -9.28006801e-04 -9.12720607e-01] [-1.06973151e-02 9.22323482e-05 9.99942778e-01 -5.48159134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.92, Z:-0.55 [[ 9.96886744e-01 7.80416730e-02 1.12390759e-02 1.64458777e+01] [-7.80355701e-02 9.96950093e-01 -9.81193825e-04 -9.15596046e-01] [-1.12813718e-02 1.01091421e-04 9.99936358e-01 -5.47383134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618623853 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.92, Z:-0.55 [[ 9.96887091e-01 7.80249795e-02 1.13239179e-02 1.64790859e+01] [-7.80187603e-02 9.96951399e-01 -9.90600962e-04 -9.18625894e-01] [-1.13666875e-02 1.04039272e-04 9.99935392e-01 -5.46068207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.92, Z:-0.55 [[ 9.96944873e-01 7.72207036e-02 1.17423495e-02 1.65104332e+01] [-7.72139300e-02 9.97014016e-01 -1.02978977e-03 -9.22001992e-01] [-1.17868081e-02 1.19970685e-04 9.99930526e-01 -5.47497755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.93, Z:-0.55 [[ 9.96960091e-01 7.69829273e-02 1.20085778e-02 1.65429916e+01] [-7.69757984e-02 9.97032403e-01 -1.05540850e-03 -9.26164383e-01] [-1.20541896e-02 1.27830289e-04 9.99927337e-01 -5.47798643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.93, Z:-0.55 [[ 9.97003855e-01 7.63682676e-02 1.22963601e-02 1.65752044e+01] [-7.63607163e-02 9.97079670e-01 -1.08312624e-03 -9.31511955e-01] [-1.23431672e-02 1.40922169e-04 9.99923810e-01 -5.50957649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.94, Z:-0.55 [[ 9.97116369e-01 7.49848095e-02 1.16715546e-02 1.66073611e+01] [-7.49778876e-02 9.97184665e-01 -1.03011894e-03 -9.37496086e-01] [-1.17159385e-02 1.52039955e-04 9.99931354e-01 -5.51237353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.94, Z:-0.55 [[ 9.97148623e-01 7.45874354e-02 1.14602881e-02 1.66403054e+01] [-7.45807104e-02 9.97214465e-01 -1.01365949e-03 -9.40827926e-01] [-1.15039713e-02 1.56052740e-04 9.99933815e-01 -5.49812392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.95, Z:-0.55 [[ 9.97162851e-01 7.43220672e-02 1.19364428e-02 1.66728610e+01] [-7.43147230e-02 9.97234276e-01 -1.05826047e-03 -9.45784310e-01] [-1.19820820e-02 1.68204588e-04 9.99928198e-01 -5.53059009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.95, Z:-0.55 [[ 9.97156574e-01 7.44062821e-02 1.19361688e-02 1.67062076e+01] [-7.43989070e-02 9.97227996e-01 -1.06134020e-03 -9.48889807e-01] [-1.19820521e-02 1.70284443e-04 9.99928198e-01 -5.53705784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.96, Z:-0.55 [[ 9.97148087e-01 7.43675430e-02 1.28514803e-02 1.67373796e+01] [-7.43589823e-02 9.97230883e-01 -1.14333584e-03 -9.55330546e-01] [-1.29009201e-02 1.84452148e-04 9.99916763e-01 -5.53291429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.96, Z:-0.55 [[ 9.97139514e-01 7.44692901e-02 1.29272775e-02 1.67693215e+01] [-7.44606059e-02 9.97223290e-01 -1.15245553e-03 -9.58987919e-01] [-1.29772047e-02 1.86586030e-04 9.99915775e-01 -5.51540164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.96, Z:-0.55 [[ 9.97103286e-01 7.49400390e-02 1.30010923e-02 1.68024600e+01] [-7.49312655e-02 9.97188025e-01 -1.16132451e-03 -9.63961584e-01] [-1.30515632e-02 1.83772190e-04 9.99914808e-01 -5.54002365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.97, Z:-0.55 [[ 9.97047902e-01 7.57412042e-02 1.25996649e-02 1.68349613e+01] [-7.57329999e-02 9.97127495e-01 -1.12769159e-03 -9.67834131e-01] [-1.26488850e-02 1.70152110e-04 9.99919985e-01 -5.54656728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.97, Z:-0.56 [[ 9.96960858e-01 7.69691358e-02 1.20333059e-02 1.68665110e+01] [-7.69617152e-02 9.97033465e-01 -1.07921355e-03 -9.73968314e-01] [-1.20806748e-02 1.49829804e-04 9.99927015e-01 -5.55764312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.98, Z:-0.55 [[ 9.96902559e-01 7.78104118e-02 1.14380325e-02 1.68990551e+01] [-7.78037437e-02 9.96968165e-01 -1.02747367e-03 -9.78618963e-01] [-1.14833024e-02 1.34369379e-04 9.99934056e-01 -5.54275133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.99, Z:-0.56 [[ 9.96710880e-01 8.03033585e-02 1.08991801e-02 1.69307989e+01] [-8.02974296e-02 9.96770465e-01 -9.81202415e-04 -9.85030278e-01] [-1.09427747e-02 1.02798974e-04 9.99940121e-01 -5.56990596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.99, Z:-0.56 [[ 9.96570573e-01 8.20263462e-02 1.08981941e-02 1.69637783e+01] [-8.20204995e-02 9.96630158e-01 -9.83103351e-04 -9.88538007e-01] [-1.09421093e-02 8.58565473e-05 9.99940130e-01 -5.57311493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.99, Z:-0.56 [[ 9.96421343e-01 8.38436818e-02 1.07118925e-02 1.69956177e+01] [-8.38381094e-02 9.96478917e-01 -9.68989332e-04 -9.92571034e-01] [-1.07554187e-02 6.74568340e-05 9.99942157e-01 -5.57768358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.00, Z:-0.56 [[ 9.96103245e-01 8.75711555e-02 1.04698158e-02 1.70285337e+01] [-8.75660316e-02 9.96158267e-01 -9.47699077e-04 -9.97854752e-01] [-1.05125847e-02 2.72059037e-05 9.99944741e-01 -5.58583221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.00, Z:-0.56 [[ 9.95944488e-01 8.93814415e-02 1.02730038e-02 1.70617778e+01] [-8.93765848e-02 9.95997469e-01 -9.31815531e-04 -1.00116165e+00] [-1.03151728e-02 9.87054290e-06 9.99946797e-01 -5.56496095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.01, Z:-0.56 [[ 9.95791817e-01 9.10211353e-02 1.06682055e-02 1.70945097e+01] [-9.10159681e-02 9.95848961e-01 -9.69877156e-04 -1.00540609e+00] [-1.07122007e-02 -5.18131854e-06 9.99942623e-01 -5.59415428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.01, Z:-0.56 [[ 9.95632290e-01 9.27714028e-02 1.04789926e-02 1.71266940e+01] [-9.27664868e-02 9.95687434e-01 -9.55279998e-04 -1.00834012e+00] [-1.05224239e-02 -2.09917172e-05 9.99944638e-01 -5.59558027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.01, Z:-0.56 [[ 9.95618965e-01 9.28805573e-02 1.07740221e-02 1.71591537e+01] [-9.28753587e-02 9.95677258e-01 -9.82933387e-04 -1.01297720e+00] [-1.08187442e-02 -2.20140492e-05 9.99941475e-01 -5.61523831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.02, Z:-0.56 [[ 9.95625423e-01 9.28023769e-02 1.08506629e-02 1.71910189e+01] [-9.27970749e-02 9.95684548e-01 -9.92169194e-04 -1.01781142e+00] [-1.08959130e-02 -1.90809009e-05 9.99940638e-01 -5.61926410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.02, Z:-0.56 [[ 9.95766011e-01 9.13242385e-02 1.04849867e-02 1.72234238e+01] [-9.13191883e-02 9.95821211e-01 -9.60409596e-04 -1.02338723e+00] [-1.05288808e-02 -1.13724111e-06 9.99944570e-01 -5.62153657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.03, Z:-0.56 [[ 9.95849669e-01 9.04048071e-02 1.05075084e-02 1.72552049e+01] [-9.03996616e-02 9.95905101e-01 -9.64599177e-04 -1.02769886e+00] [-1.05516856e-02 1.07205706e-05 9.99944329e-01 -5.63016155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.03, Z:-0.56 [[ 9.95951895e-01 8.92674729e-02 1.05423725e-02 1.72881834e+01] [-8.92622107e-02 9.96007690e-01 -9.69574210e-04 -1.03246282e+00] [-1.05868355e-02 2.46137955e-05 9.99943958e-01 -5.63507188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.04, Z:-0.56 [[ 9.96057551e-01 8.80707588e-02 1.06252446e-02 1.73209736e+01] [-8.80653240e-02 9.96114220e-01 -9.79204731e-04 -1.03744990e+00] [-1.06701965e-02 3.96286621e-05 9.99943071e-01 -5.64415048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.04, Z:-0.56 [[ 9.96227870e-01 8.61152750e-02 1.06860098e-02 1.73523350e+01] [-8.61096416e-02 9.96285178e-01 -9.87010739e-04 -1.04273914e+00] [-1.07313099e-02 6.31191304e-05 9.99942416e-01 -5.61594166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.05, Z:-0.57 [[ 9.96230363e-01 8.60320155e-02 1.11155800e-02 1.73847524e+01] [-8.60258917e-02 9.96292371e-01 -1.02876080e-03 -1.04834002e+00] [-1.11628739e-02 6.86550687e-05 9.99937691e-01 -5.65013758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:-1.06, Z:-0.57 [[ 9.96262091e-01 8.56284044e-02 1.13851496e-02 1.74172688e+01] [-8.56219280e-02 9.96327140e-01 -1.05595192e-03 -1.05572693e+00] [-1.14337530e-02 7.71864097e-05 9.99934630e-01 -5.65748743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.06, Z:-0.57 [[ 9.96266634e-01 8.55931109e-02 1.12522814e-02 1.74485075e+01] [-8.55867525e-02 9.96330173e-01 -1.04629185e-03 -1.06061788e+00] [-1.13005429e-02 7.93394293e-05 9.99936144e-01 -5.66218756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.07, Z:-0.57 [[ 9.96272451e-01 8.55465827e-02 1.10898697e-02 1.74808855e+01] [-8.55403963e-02 9.96334169e-01 -1.03185192e-03 -1.06534826e+00] [-1.11374875e-02 7.93737904e-05 9.99937973e-01 -5.66791721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.07, Z:-0.57 [[ 9.96243662e-01 8.59138546e-02 1.08340439e-02 1.75127197e+01] [-8.59079489e-02 9.96302566e-01 -1.01017769e-03 -1.07122886e+00] [-1.08807740e-02 7.56526304e-05 9.99940800e-01 -5.68170482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.08, Z:-0.57 [[ 9.96207888e-01 8.63116437e-02 1.09610191e-02 1.75454574e+01] [-8.63056014e-02 9.96268184e-01 -1.02396270e-03 -1.07627533e+00] [-1.10084945e-02 7.40823727e-05 9.99939402e-01 -5.68758514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.08, Z:-0.57 [[ 9.96170076e-01 8.67640501e-02 1.08249677e-02 1.75779658e+01] [-8.67581614e-02 9.96228887e-01 -1.01328912e-03 -1.08182436e+00] [-1.08720626e-02 7.02540028e-05 9.99940895e-01 -5.69143117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.09, Z:-0.57 [[ 9.96060171e-01 8.81134722e-02 1.00075436e-02 1.76092414e+01] [-8.81084840e-02 9.96110442e-01 -9.39108626e-04 -1.08905499e+00] [-1.00513668e-02 5.36592025e-05 9.99949482e-01 -5.70171365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.09, Z:-0.57 [[ 9.95985509e-01 8.89775423e-02 9.79093294e-03 1.76419321e+01] [-8.89728055e-02 9.96033631e-01 -9.19170401e-04 -1.09369855e+00] [-9.83388402e-03 4.43536271e-05 9.99951645e-01 -5.70830189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.10, Z:-0.57 [[ 9.95881293e-01 9.01259141e-02 9.88787232e-03 1.76732088e+01] [-9.01211185e-02 9.95930378e-01 -9.30397487e-04 -1.09824480e+00] [-9.93148535e-03 3.54593389e-05 9.99950681e-01 -5.71628195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.10, Z:-0.57 [[ 9.95765459e-01 9.14144842e-02 9.72333557e-03 1.77055685e+01] [-9.14098919e-02 9.95812930e-01 -9.16595610e-04 -1.10330580e+00] [-9.76641340e-03 2.39051942e-05 9.99952307e-01 -5.71858042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.11, Z:-0.57 [[ 9.95458072e-01 9.46374854e-02 1.03427827e-02 1.77382474e+01] [-9.46324401e-02 9.95511801e-01 -9.77218769e-04 -1.10890281e+00] [-1.03888437e-02 -5.98244913e-06 9.99946034e-01 -5.72052150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.11, Z:-0.57 [[ 9.95249690e-01 9.67861068e-02 1.05121115e-02 1.77705119e+01] [-9.67809925e-02 9.95305204e-01 -9.95326630e-04 -1.11286468e+00] [-1.05590930e-02 -2.67740616e-05 9.99944251e-01 -5.72019385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.12, Z:-0.57 [[ 9.95015933e-01 9.91379942e-02 1.07215630e-02 1.78022115e+01] [-9.91327860e-02 9.95073694e-01 -1.01743670e-03 -1.11678707e+00] [-1.07696120e-02 -5.04926847e-05 9.99942005e-01 -5.72440688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.12, Z:-0.57 [[ 9.94595029e-01 1.03282266e-01 1.06537073e-02 1.78347950e+01] [-1.03277342e-01 9.94652082e-01 -1.01277767e-03 -1.12238004e+00] [-1.07013342e-02 -9.29829451e-05 9.99942735e-01 -5.73038468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.13, Z:-0.57 [[ 9.94393621e-01 1.05199797e-01 1.06925271e-02 1.78666893e+01] [-1.05194925e-01 9.94451100e-01 -1.01867543e-03 -1.12709185e+00] [-1.07403598e-02 -1.11835236e-04 9.99942314e-01 -5.74064172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.13, Z:-0.57 [[ 9.94199039e-01 1.07063533e-01 1.02796398e-02 1.78980906e+01] [-1.07059110e-01 9.94252173e-01 -9.81140556e-04 -1.13172975e+00] [-1.03255986e-02 -1.25080091e-04 9.99946682e-01 -5.74490947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.14, Z:-0.57 [[ 9.93790040e-01 1.10768958e-01 1.05637964e-02 1.79308726e+01] [-1.10764478e-01 9.93846170e-01 -1.01004002e-03 -1.13606380e+00] [-1.06106697e-02 -1.66325682e-04 9.99943691e-01 -5.74899732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.14, Z:-0.58 [[ 9.93564250e-01 1.12714907e-01 1.11995641e-02 1.79637697e+01] [-1.12709968e-01 9.93627350e-01 -1.07315220e-03 -1.13991417e+00] [-1.12491534e-02 -1.96056849e-04 9.99936707e-01 -5.75623230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.14, Z:-0.58 [[ 9.93370560e-01 1.14356945e-01 1.17225879e-02 1.79957120e+01] [-1.14351620e-01 9.93439701e-01 -1.12572679e-03 -1.14354565e+00] [-1.17744189e-02 -2.22233076e-04 9.99930654e-01 -5.75871426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.15, Z:-0.58 [[ 9.93048268e-01 1.17153779e-01 1.14074727e-02 1.80285138e+01] [-1.17148900e-01 9.93113755e-01 -1.09728168e-03 -1.14699806e+00] [-1.14574687e-02 -2.46719208e-04 9.99934331e-01 -5.76388562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.15, Z:-0.58 [[ 9.92909852e-01 1.18332532e-01 1.12887888e-02 1.80609338e+01] [-1.18327808e-01 9.92973991e-01 -1.08788129e-03 -1.15025648e+00] [-1.13382054e-02 -2.55609583e-04 9.99935688e-01 -5.77482651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.15, Z:-0.58 [[ 9.92686098e-01 1.20242985e-01 1.07673211e-02 1.80937617e+01] [-1.20238779e-01 9.92744456e-01 -1.03945420e-03 -1.15404521e+00] [-1.08141854e-02 -2.62797808e-04 9.99941490e-01 -5.78280690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.13, Y:-1.16, Z:-0.58 [[ 9.92580068e-01 1.21161381e-01 1.02336405e-02 1.81251569e+01] [-1.21157611e-01 9.92632789e-01 -9.89826720e-04 -1.15722165e+00] [-1.02781759e-02 -2.57401165e-04 9.99947145e-01 -5.79044437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:-1.16, Z:-0.58 [[ 9.92454727e-01 1.22200551e-01 1.00319812e-02 1.81575898e+01] [-1.22196964e-01 9.92505394e-01 -9.72006078e-04 -1.16003809e+00] [-1.00755752e-02 -2.61205625e-04 9.99949206e-01 -5.80302056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.16, Z:-0.58 [[ 9.92320824e-01 1.23318734e-01 9.58498986e-03 1.81900860e+01] [-1.23315498e-01 9.92367081e-01 -9.30156795e-04 -1.16282247e+00] [-9.62653416e-03 -2.58963841e-04 9.99953630e-01 -5.81189839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.16, Z:-0.58 [[ 9.92221225e-01 1.24129732e-01 9.42604753e-03 1.82216110e+01] [-1.24126621e-01 9.92265963e-01 -9.16599049e-04 -1.16438547e+00] [-9.46692333e-03 -2.60554400e-04 9.99955154e-01 -5.81676026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.17, Z:-0.58 [[ 9.92218437e-01 1.24111366e-01 9.94695771e-03 1.82541011e+01] [-1.24107883e-01 9.92268257e-01 -9.69073167e-04 -1.16594313e+00] [-9.99032339e-03 -2.72963601e-04 9.99950058e-01 -5.82236001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.17, Z:-0.58 [[ 9.92215227e-01 1.24132103e-01 1.00082220e-02 1.82858196e+01] [-1.24128557e-01 9.92265663e-01 -9.77098017e-04 -1.16786333e+00] [-1.00521043e-02 -2.72814635e-04 9.99949439e-01 -5.82839808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.17, Z:-0.58 [[ 9.92336907e-01 1.23156606e-01 9.99565040e-03 1.83192506e+01] [-1.23153002e-01 9.92387214e-01 -9.77574045e-04 -1.16931994e+00] [-1.00399504e-02 -2.60911553e-04 9.99949564e-01 -5.82924979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.17, Z:-0.58 [[ 9.92395090e-01 1.22673399e-01 1.01598910e-02 1.83522601e+01] [-1.22669632e-01 9.92447062e-01 -9.95524935e-04 -1.17117739e+00] [-1.02052784e-02 -2.58356032e-04 9.99947891e-01 -5.83514536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.17, Z:-0.58 [[ 9.92650879e-01 1.20585382e-01 1.01684797e-02 1.83857333e+01] [-1.20581479e-01 9.92702932e-01 -9.98289864e-04 -1.17106203e+00] [-1.02146588e-02 -2.35177014e-04 9.99947801e-01 -5.83806271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.17, Z:-0.58 [[ 9.92785542e-01 1.19486492e-01 9.99226567e-03 1.84180175e+01] [-1.19482648e-01 9.92835802e-01 -9.82992771e-04 -1.17249680e+00] [-1.00381335e-02 -2.18001349e-04 9.99949593e-01 -5.81076335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.17, Z:-0.58 [[ 9.92952962e-01 1.18006595e-01 1.09022354e-02 1.84505258e+01] [-1.18001905e-01 9.93012787e-01 -1.07472701e-03 -1.17446349e+00] [-1.09528840e-02 -2.19331168e-04 9.99939991e-01 -5.84663296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.18, Z:-0.59 [[ 9.93136843e-01 1.16451371e-01 1.08760761e-02 1.84828102e+01] [-1.16446581e-01 9.93196375e-01 -1.07484784e-03 -1.17607534e+00] [-1.09272469e-02 -1.99010887e-04 9.99940276e-01 -5.85331658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:-1.18, Z:-0.59 [[ 9.93584767e-01 1.12592811e-01 1.05910406e-02 1.85157751e+01] [-1.12588042e-01 9.93641201e-01 -1.04729880e-03 -1.17625797e+00] [-1.06416127e-02 -1.51844399e-04 9.99943365e-01 -5.85132730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:18.55, Y:-1.18, Z:-0.58 [[ 9.93764066e-01 1.10994364e-01 1.06410551e-02 1.85489459e+01] [-1.10989437e-01 9.93821027e-01 -1.05428700e-03 -1.17796009e+00] [-1.06923242e-02 -1.33332173e-04 9.99942827e-01 -5.82906266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.58, Y:-1.18, Z:-0.59 [[ 9.94104430e-01 1.07846150e-01 1.12067277e-02 1.85810496e+01] [-1.07840452e-01 9.94167590e-01 -1.11321907e-03 -1.17855449e+00] [-1.12614218e-02 -1.01882572e-04 9.99936583e-01 -5.86449461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.61, Y:-1.18, Z:-0.59 [[ 9.94233919e-01 1.06609547e-01 1.15463581e-02 1.86136601e+01] [-1.06603405e-01 9.94300959e-01 -1.14785202e-03 -1.18073085e+00] [-1.16029269e-02 -8.96476802e-05 9.99932680e-01 -5.87278748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.18, Z:-0.59 [[ 9.94356641e-01 1.05461621e-01 1.15202895e-02 1.86463045e+01] [-1.05455405e-01 9.94423371e-01 -1.14737688e-03 -1.18312611e+00] [-1.15770493e-02 -7.39749783e-05 9.99932981e-01 -5.87903199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.19, Z:-0.59 [[ 9.94472929e-01 1.04433858e-01 1.08241802e-02 1.86785685e+01] [-1.04428289e-01 9.94531833e-01 -1.08005221e-03 -1.18548388e+00] [-1.08777858e-02 -5.62679267e-05 9.99940834e-01 -5.88717867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.19, Z:-0.59 [[ 9.94713026e-01 1.02246900e-01 9.56911178e-03 1.87109656e+01] [-1.02242433e-01 9.94759052e-01 -9.56123614e-04 -1.18673171e+00] [-9.61672123e-03 -2.73006549e-05 9.99953758e-01 -5.89574625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.19, Z:-0.59 [[ 9.94815923e-01 1.01265234e-01 9.30758578e-03 1.87436998e+01] [-1.01260950e-01 9.94859463e-01 -9.31621326e-04 -1.18892211e+00] [-9.35408064e-03 -1.57032503e-05 9.99956250e-01 -5.90904949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.19, Z:-0.59 [[ 9.95127278e-01 9.82635856e-02 8.12208272e-03 1.87759567e+01] [-9.82602143e-02 9.95160423e-01 -8.14057232e-04 -1.19099038e+00] [-8.16276745e-03 1.20129691e-05 9.99966684e-01 -5.91561328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.19, Z:-0.59 [[ 9.95114928e-01 9.83885954e-02 8.12185828e-03 1.88092566e+01] [-9.83852100e-02 9.95148071e-01 -8.16287338e-04 -1.19451286e+00] [-8.16276497e-03 1.32289826e-05 9.99966684e-01 -5.92208116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.20, Z:-0.59 [[ 9.95291835e-01 9.66096040e-02 7.79412279e-03 1.88416240e+01] [-9.66064307e-02 9.95322352e-01 -7.83496663e-04 -1.19768661e+00] [-7.83335793e-03 2.68454485e-05 9.99969318e-01 -5.93050277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.20, Z:-0.59 [[ 9.95473073e-01 9.47231894e-02 7.80250907e-03 1.88747562e+01] [-9.47199394e-02 9.95503649e-01 -7.85846496e-04 -1.20068864e+00] [-7.84186414e-03 4.32358392e-05 9.99969251e-01 -5.93742592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868623853000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.20, Z:-0.59 [[ 9.95763831e-01 9.15695937e-02 8.33079618e-03 1.89074264e+01] [-9.15657634e-02 9.95798676e-01 -8.40835386e-04 -1.20371150e+00] [-8.37279076e-03 7.44577532e-05 9.99964945e-01 -5.90389469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:18.94, Y:-1.21, Z:-0.59 [[ 9.95832968e-01 9.07782721e-02 8.71809165e-03 1.89395002e+01] [-9.07740237e-02 9.95871125e-01 -8.82602855e-04 -1.20741769e+00] [-8.76221691e-03 8.75487630e-05 9.99961607e-01 -5.90432859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.97, Y:-1.21, Z:-0.59 [[ 9.95900177e-01 8.99536565e-02 9.54869596e-03 1.89716730e+01] [-8.99485084e-02 9.95945947e-01 -9.68100144e-04 -1.21101766e+00] [-9.59706919e-03 1.05240145e-04 9.99953942e-01 -5.92686101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.21, Z:-0.59 [[ 9.95919760e-01 8.96381361e-02 1.04324892e-02 1.90040258e+01] [-8.96319649e-02 9.95974392e-01 -1.05854713e-03 -1.21494333e+00] [-1.04853783e-02 1.19143497e-04 9.99945020e-01 -5.94635862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.22, Z:-0.59 [[ 9.95950196e-01 8.92985681e-02 1.04390492e-02 1.90370845e+01] [-8.92923491e-02 9.96004895e-01 -1.06124442e-03 -1.21937409e+00] [-1.04921117e-02 1.24819362e-04 9.99944948e-01 -5.94930980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.22, Z:-0.60 [[ 9.95931612e-01 8.95415158e-02 1.01262318e-02 1.90689824e+01] [-8.95356506e-02 9.95983083e-01 -1.03198507e-03 -1.22295309e+00] [-1.01779611e-02 1.21127805e-04 9.99948196e-01 -5.95538110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.23, Z:-0.60 [[ 9.95885961e-01 9.01430106e-02 9.24064689e-03 1.91015920e+01] [-9.01381495e-02 9.95928826e-01 -9.42039782e-04 -1.22750093e+00] [-9.28794491e-03 1.05229382e-04 9.99956861e-01 -5.96223576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.23, Z:-0.60 [[ 9.95835392e-01 9.07527507e-02 8.70691349e-03 1.91344452e+01] [-9.07484468e-02 9.95873450e-01 -8.88935565e-04 -1.23186207e+00] [-8.75165733e-03 9.50946215e-05 9.99961699e-01 -5.96606377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.24, Z:-0.60 [[ 9.95788258e-01 9.13099135e-02 8.26102834e-03 1.91670129e+01] [-9.13060467e-02 9.95822520e-01 -8.44813344e-04 -1.23561478e+00] [-8.30365790e-03 8.69733694e-05 9.99965520e-01 -5.97534766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.24, Z:-0.60 [[ 9.95693974e-01 9.23944920e-02 7.53448335e-03 1.91990042e+01] [-9.23912968e-02 9.95722478e-01 -7.71788400e-04 -1.23936239e+00] [-7.57356343e-03 7.23443708e-05 9.99971318e-01 -5.99138604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.24, Z:-0.60 [[ 9.95648014e-01 9.28940051e-02 7.46568516e-03 1.92314888e+01] [-9.28908733e-02 9.95676001e-01 -7.65907386e-04 -1.24409927e+00] [-7.50455175e-03 6.90801533e-05 9.99971838e-01 -5.99370877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.25, Z:-0.60 [[ 9.95579377e-01 9.36205049e-02 7.54354692e-03 1.92644427e+01] [-9.36173175e-02 9.95607953e-01 -7.75322522e-04 -1.24893214e+00] [-7.58300140e-03 6.56884864e-05 9.99971246e-01 -5.99769245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.30, Y:-1.25, Z:-0.60 [[ 9.95367095e-01 9.58753030e-02 7.22992116e-03 1.92959616e+01] [-9.58724242e-02 9.95393351e-01 -7.44508482e-04 -1.25329035e+00] [-7.26799543e-03 4.79091772e-05 9.99973587e-01 -6.00017257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.26, Z:-0.60 [[ 9.95203365e-01 9.75568919e-02 7.27427034e-03 1.93280007e+01] [-9.75540125e-02 9.95229949e-01 -7.50456258e-04 -1.25641554e+00] [-7.31278387e-03 3.72223340e-05 9.99973261e-01 -5.96542689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.26, Z:-0.60 [[ 9.94992702e-01 9.96436320e-02 7.78907739e-03 1.93607152e+01] [-9.96403825e-02 9.95023189e-01 -8.05106525e-04 -1.26017113e+00] [-7.83053636e-03 2.49684668e-05 9.99969341e-01 -6.00806636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.26, Z:-0.60 [[ 9.94524347e-01 1.04217728e-01 7.74519583e-03 1.93921087e+01] [-1.04214641e-01 9.94554506e-01 -8.02172662e-04 -1.26336772e+00] [-7.78662002e-03 -9.38256336e-06 9.99969684e-01 -6.00874150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.42, Y:-1.27, Z:-0.60 [[ 9.94250571e-01 1.06790308e-01 7.85063673e-03 1.94249814e+01] [-1.06787206e-01 9.94281564e-01 -8.14374641e-04 -1.26655963e+00] [-7.89271069e-03 -2.86551139e-05 9.99968852e-01 -6.00804072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.27, Z:-0.60 [[ 9.93991272e-01 1.09158832e-01 8.10561309e-03 1.94583723e+01] [-1.09155591e-01 9.94024319e-01 -8.42435534e-04 -1.26932692e+00] [-8.14913582e-03 -4.73994229e-05 9.99966794e-01 -5.98001571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.49, Y:-1.27, Z:-0.60 [[ 9.93737316e-01 1.11391408e-01 8.83744417e-03 1.94899173e+01] [-1.11387625e-01 9.93776609e-01 -9.20698916e-04 -1.27287519e+00] [-8.88500325e-03 -6.94490435e-05 9.99960525e-01 -6.01285170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.28, Z:-0.60 [[ 9.93388415e-01 1.14319054e-01 1.05171528e-02 1.95230315e+01] [-1.14313834e-01 9.93444081e-01 -1.09814980e-03 -1.27598954e+00] [-1.05737426e-02 -1.11366770e-04 9.99944090e-01 -6.00683602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.28, Z:-0.60 [[ 9.93288322e-01 1.15126226e-01 1.11472495e-02 1.95552230e+01] [-1.15120384e-01 9.93350863e-01 -1.16644407e-03 -1.27897134e+00] [-1.12074182e-02 -1.24660366e-04 9.99937187e-01 -6.00965902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.28, Z:-0.60 [[ 9.93304786e-01 1.14979960e-01 1.11897821e-02 1.95867625e+01] [-1.14974036e-01 9.93367804e-01 -1.17343462e-03 -1.28196196e+00] [-1.12504908e-02 -1.20956186e-04 9.99936704e-01 -6.01678238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.29, Z:-0.60 [[ 9.93355048e-01 1.14555305e-01 1.10828966e-02 1.96192708e+01] [-1.14549459e-01 9.93416866e-01 -1.16295009e-03 -1.28543421e+00] [-1.11431585e-02 -1.14317466e-04 9.99937907e-01 -6.02007918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.29, Z:-0.60 [[ 9.93428584e-01 1.13944437e-01 1.07849326e-02 1.96520573e+01] [-1.13938843e-01 9.93487119e-01 -1.13366913e-03 -1.28884306e+00] [-1.08438669e-02 -1.02603432e-04 9.99941198e-01 -6.02587315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.29, Z:-0.60 [[ 9.93682659e-01 1.11798712e-01 9.78885810e-03 1.96842541e+01] [-1.11793978e-01 9.93730871e-01 -1.03117669e-03 -1.29255298e+00] [-9.84277470e-03 -6.96729850e-05 9.99951556e-01 -6.03843591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.30, Z:-0.60 [[ 9.93828262e-01 1.10539413e-01 9.29647199e-03 1.97172172e+01] [-1.10535086e-01 9.93871740e-01 -9.79546507e-04 -1.29684367e+00] [-9.34777929e-03 -5.40853255e-05 9.99956307e-01 -6.04771624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.30, Z:-0.60 [[ 9.93940787e-01 1.09558817e-01 8.86445027e-03 1.97493810e+01] [-1.09554828e-01 9.93980314e-01 -9.35716175e-04 -1.30146419e+00] [-8.91360501e-03 -4.10968576e-05 9.99960272e-01 -6.04890256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.31, Z:-0.61 [[ 9.94029765e-01 1.08738526e-01 8.98657787e-03 1.97823957e+01] [-1.08734379e-01 9.94070386e-01 -9.50228716e-04 -1.30587711e+00] [-9.03661740e-03 -3.25943333e-05 9.99959168e-01 -6.05715518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.31, Z:-0.61 [[ 9.94175387e-01 1.07442463e-01 8.45089941e-03 1.98154491e+01] [-1.07438737e-01 9.94211304e-01 -8.94920389e-04 -1.30959218e+00] [-8.49813217e-03 -1.82461373e-05 9.99963890e-01 -6.06152833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.31, Z:-0.61 [[ 9.94208994e-01 1.07159024e-01 8.08823482e-03 1.98484951e+01] [-1.07155590e-01 9.94241894e-01 -8.57920721e-04 -1.31300680e+00] [-8.13359585e-03 -1.37470795e-05 9.99966922e-01 -6.07008049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.32, Z:-0.61 [[ 9.94258782e-01 1.06733327e-01 7.58097577e-03 1.98801636e+01] [-1.06730287e-01 9.94287683e-01 -8.05493213e-04 -1.31579424e+00] [-7.62364380e-03 -8.25102151e-06 9.99970940e-01 -6.05301269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.32, Z:-0.61 [[ 9.94210736e-01 1.07176376e-01 7.63126333e-03 1.99129017e+01] [-1.07173300e-01 9.94240023e-01 -8.12074627e-04 -1.31957213e+00] [-7.67434265e-03 -1.04943619e-05 9.99970552e-01 -6.08016429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.32, Z:-0.61 [[ 9.94090489e-01 1.08274544e-01 7.79241808e-03 1.99458931e+01] [-1.08271358e-01 9.94121030e-01 -8.30814668e-04 -1.32304121e+00] [-7.83656277e-03 -1.77907291e-05 9.99969294e-01 -6.08226954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.33, Z:-0.61 [[ 9.94036444e-01 1.08767836e-01 7.81695866e-03 1.99778581e+01] [-1.08764627e-01 9.94067180e-01 -8.35762604e-04 -1.32672741e+00] [-7.86148613e-03 -1.94301049e-05 9.99969098e-01 -6.08702382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888623853000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.33, Z:-0.61 [[ 9.93974449e-01 1.09337053e-01 7.75905978e-03 2.00106499e+01] [-1.09333908e-01 9.94004733e-01 -8.29622316e-04 -1.32959993e+00] [-7.80325060e-03 -2.37049425e-05 9.99969554e-01 -6.05746041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.33, Z:-0.61 [[ 9.93874405e-01 1.10202879e-01 8.30612100e-03 2.00428793e+01] [-1.10199288e-01 9.93909113e-01 -8.90154557e-04 -1.33297363e+00] [-8.35362695e-03 -3.06267908e-05 9.99965107e-01 -6.09696662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.33, Z:-0.61 [[ 9.93827829e-01 1.10553650e-01 9.17264223e-03 2.00754743e+01] [-1.10549268e-01 9.93870157e-01 -9.84933241e-04 -1.33464297e+00] [-9.22530334e-03 -3.51748175e-05 9.99957445e-01 -6.10243802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.34, Z:-0.61 [[ 9.93803043e-01 1.10789347e-01 9.01289100e-03 2.01072096e+01] [-1.10785110e-01 9.93843911e-01 -9.69600993e-04 -1.33823123e+00] [-9.06482830e-03 -3.49017008e-05 9.99958913e-01 -6.10516781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.34, Z:-0.61 [[ 9.93779252e-01 1.11021409e-01 8.77756140e-03 2.01387479e+01] [-1.11017385e-01 9.93818014e-01 -9.45861920e-04 -1.34214061e+00] [-8.82830957e-03 -3.44839602e-05 9.99961029e-01 -6.11391070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:20.17, Y:-1.35, Z:-0.61 [[ 9.93784882e-01 1.10992835e-01 8.49694144e-03 2.01720079e+01] [-1.10989053e-01 9.93821206e-01 -9.16903289e-04 -1.34537857e+00] [-8.54621029e-03 -3.18628534e-05 9.99963480e-01 -6.12000327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:-1.35, Z:-0.61 [[ 9.93766873e-01 1.11164210e-01 8.36181814e-03 2.02047079e+01] [-1.11160541e-01 9.93802051e-01 -9.03700049e-04 -1.34864283e+00] [-8.41045112e-03 -3.14370579e-05 9.99964631e-01 -6.12361848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.35, Z:-0.61 [[ 9.93688272e-01 1.11900126e-01 7.87271945e-03 2.02370023e+01] [-1.11896885e-01 9.93719458e-01 -8.52318507e-04 -1.35157649e+00] [-7.91864905e-03 -3.39938813e-05 9.99968646e-01 -6.12455203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.35, Z:-0.61 [[ 9.93641606e-01 1.12297490e-01 8.10135430e-03 2.02697598e+01] [-1.12294059e-01 9.93674631e-01 -8.78549481e-04 -1.35449270e+00] [-8.14876914e-03 -3.67706396e-05 9.99966798e-01 -6.13312151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.36, Z:-0.61 [[ 9.93605475e-01 1.12615513e-01 8.11826718e-03 2.03018946e+01] [-1.12612065e-01 9.93638639e-01 -8.82094895e-04 -1.35769453e+00] [-8.16596152e-03 -3.77605122e-05 9.99966657e-01 -6.14120969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.36, Z:-0.61 [[ 9.93608353e-01 1.12598720e-01 7.99805635e-03 2.03351704e+01] [-1.12595363e-01 9.93640542e-01 -8.70235731e-04 -1.36104715e+00] [-8.04518048e-03 -3.58705631e-05 9.99967636e-01 -6.14334639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.36, Z:-0.62 [[ 9.93618179e-01 1.12514524e-01 7.96219755e-03 2.03685062e+01] [-1.12511182e-01 9.93650080e-01 -8.67859142e-04 -1.36400450e+00] [-8.00928499e-03 -3.35156397e-05 9.99967925e-01 -6.15143840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.37, Z:-0.62 [[ 9.93621497e-01 1.12475299e-01 8.10103793e-03 2.04002824e+01] [-1.12471818e-01 9.93654521e-01 -8.85437843e-04 -1.36717176e+00] [-8.14922285e-03 -3.13483906e-05 9.99966794e-01 -6.15742837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.37, Z:-0.62 [[ 9.93597853e-01 1.12668367e-01 8.31536338e-03 2.04326489e+01] [-1.12664704e-01 9.93632647e-01 -9.09156889e-04 -1.37014737e+00] [-8.36484975e-03 -3.35116205e-05 9.99965013e-01 -6.16236039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.37, Z:-0.62 [[ 9.93562131e-01 1.12964313e-01 8.56480522e-03 2.04656737e+01] [-1.12960422e-01 9.93599045e-01 -9.38173013e-04 -1.37339969e+00] [-8.61596236e-03 -3.53508381e-05 9.99962881e-01 -6.17100043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.38, Z:-0.62 [[ 9.93509606e-01 1.13431918e-01 8.47722724e-03 2.04979523e+01] [-1.13428110e-01 9.93545771e-01 -9.30295492e-04 -1.37664274e+00] [-8.52803847e-03 -3.72983525e-05 9.99963635e-01 -6.17888032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.38, Z:-0.62 [[ 9.93420110e-01 1.14224248e-01 8.32499195e-03 2.05308145e+01] [-1.14220592e-01 9.93454991e-01 -9.14857254e-04 -1.37959112e+00] [-8.37500368e-03 -4.20479132e-05 9.99964928e-01 -6.18110818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.38, Z:-0.62 [[ 9.93365189e-01 1.14672100e-01 8.71265889e-03 2.05635134e+01] [-1.14668097e-01 9.93403396e-01 -9.59260337e-04 -1.38272814e+00] [-8.76518532e-03 -4.61681869e-05 9.99961584e-01 -6.18764875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.38, Z:-0.62 [[ 9.93196877e-01 1.16084259e-01 9.18737067e-03 2.05967504e+01] [-1.16079851e-01 9.93239368e-01 -1.01345180e-03 -1.38450207e+00] [-9.24290404e-03 -5.99114504e-05 9.99957282e-01 -6.18678112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.39, Z:-0.62 [[ 9.93102342e-01 1.16887121e-01 9.22703541e-03 2.06302606e+01] [-1.16882693e-01 9.93145204e-01 -1.01963907e-03 -1.38611411e+00] [-9.28296864e-03 -6.58747936e-05 9.99956910e-01 -6.17430995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.39, Z:-0.62 [[ 9.92976130e-01 1.17935269e-01 9.46979524e-03 2.06623586e+01] [-1.17930632e-01 9.93021282e-01 -1.04855360e-03 -1.38857866e+00] [-9.52736966e-03 -7.55902397e-05 9.99954611e-01 -6.19809135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.39, Z:-0.62 [[ 9.92882129e-01 1.18740603e-01 9.25999494e-03 2.06951672e+01] [-1.18736190e-01 9.92925306e-01 -1.02680296e-03 -1.39053152e+00] [-9.31640651e-03 -8.00022093e-05 9.99956598e-01 -6.20368940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.39, Z:-0.62 [[ 9.92739378e-01 1.19985586e-01 8.48452321e-03 2.07273310e+01] [-1.19981915e-01 9.92775630e-01 -9.42295049e-04 -1.39016798e+00] [-8.53628970e-03 -8.25359388e-05 9.99963562e-01 -6.21097203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.39, Z:-0.62 [[ 9.92688823e-01 1.20405707e-01 8.44781161e-03 2.07605265e+01] [-1.20402071e-01 9.92724765e-01 -9.39619482e-04 -1.39184433e+00] [-8.49948734e-03 -8.43842518e-05 9.99963875e-01 -6.22023359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.39, Z:-0.62 [[ 9.92653576e-01 1.20715882e-01 8.15801781e-03 2.07925405e+01] [-1.20712488e-01 9.92687095e-01 -9.08980407e-04 -1.39348597e+00] [-8.20808738e-03 -8.24719741e-05 9.99966310e-01 -6.23137543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638623853000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.39, Z:-0.62 [[ 9.92720210e-01 1.20206286e-01 7.55202512e-03 2.08254399e+01] [-1.20203354e-01 9.92748933e-01 -8.42589504e-04 -1.39209640e+00] [-7.59854943e-03 -7.13231166e-05 9.99971128e-01 -6.19779752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:20.86, Y:-1.40, Z:-0.62 [[ 9.92710562e-01 1.20285959e-01 7.55175198e-03 2.08587065e+01] [-1.20283010e-01 9.92739283e-01 -8.45028040e-04 -1.39596517e+00] [-7.59856585e-03 -6.94792014e-05 9.99971128e-01 -6.20426508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.40, Z:-0.62 [[ 9.92727174e-01 1.20131782e-01 7.81750104e-03 2.08920756e+01] [-1.20128622e-01 9.92757951e-01 -8.74222034e-04 -1.39792119e+00] [-7.86590817e-03 -7.12416621e-05 9.99969061e-01 -6.24975765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.92, Y:-1.40, Z:-0.63 [[ 9.92780088e-01 1.19667018e-01 8.21594794e-03 2.09246109e+01] [-1.19663491e-01 9.92814081e-01 -9.21309042e-04 -1.39914569e+00] [-8.26715911e-03 -6.84917402e-05 9.99965824e-01 -6.25802877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.96, Y:-1.40, Z:-0.63 [[ 9.92961927e-01 1.18130100e-01 8.47881904e-03 2.09579606e+01] [-1.18126286e-01 9.92998125e-01 -9.51021988e-04 -1.39897484e+00] [-8.53179573e-03 -5.72427752e-05 9.99963602e-01 -6.26184469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.99, Y:-1.40, Z:-0.63 [[ 9.93007542e-01 1.17727976e-01 8.72615549e-03 2.09897243e+01] [-1.17723903e-01 9.93045880e-01 -9.80722909e-04 -1.40116894e+00] [-8.78093128e-03 -5.34118406e-05 9.99961445e-01 -6.26680685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:-1.40, Z:-0.63 [[ 9.93054670e-01 1.17353912e-01 8.39535519e-03 2.10230400e+01] [-1.17350118e-01 9.93090156e-01 -9.44835818e-04 -1.40322064e+00] [-8.44822477e-03 -4.69222974e-05 9.99964312e-01 -6.26978290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.06, Y:-1.40, Z:-0.63 [[ 9.93081622e-01 1.17164261e-01 7.83757655e-03 2.10567378e+01] [-1.17160938e-01 9.93112549e-01 -8.83336234e-04 -1.40182503e+00] [-7.88709106e-03 -4.10328379e-05 9.99968896e-01 -6.27524669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.09, Y:-1.40, Z:-0.63 [[ 9.93059256e-01 1.17368101e-01 7.61852538e-03 2.10890302e+01] [-1.17364956e-01 9.93088479e-01 -8.60183946e-04 -1.40273040e+00] [-7.66682794e-03 -3.99342667e-05 9.99970609e-01 -6.28048511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.12, Y:-1.40, Z:-0.63 [[ 9.93112050e-01 1.16938188e-01 7.34283772e-03 2.11226352e+01] [-1.16935247e-01 9.93139194e-01 -8.30056611e-04 -1.40367047e+00] [-7.38952525e-03 -3.42973167e-05 9.99972696e-01 -6.26865750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.15, Y:-1.41, Z:-0.63 [[ 9.93161276e-01 1.16506872e-01 7.53846417e-03 2.11546455e+01] [-1.16503746e-01 9.93189885e-01 -8.53941968e-04 -1.40559359e+00] [-7.58661647e-03 -3.01572223e-05 9.99971221e-01 -6.29134031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.41, Z:-0.63 [[ 9.93419891e-01 1.14244893e-01 8.06379102e-03 2.11874504e+01] [-1.14241229e-01 9.93452618e-01 -9.15083815e-04 -1.40529669e+00] [-8.11553796e-03 -1.21549333e-05 9.99967068e-01 -6.29487212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:-1.41, Z:-0.63 [[ 9.93560594e-01 1.13000046e-01 8.26653904e-03 2.12193465e+01] [-1.12996136e-01 9.93594983e-01 -9.39978418e-04 -1.40769631e+00] [-8.31980932e-03 -1.61454082e-07 9.99965390e-01 -6.30659488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.41, Z:-0.63 [[ 9.93902832e-01 1.10011678e-01 7.38853977e-03 2.12525340e+01] [-1.10008466e-01 9.93930294e-01 -8.40923442e-04 -1.40911023e+00] [-7.43620491e-03 2.29942638e-05 9.99972351e-01 -6.31392243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.28, Y:-1.41, Z:-0.63 [[ 9.94026115e-01 1.08888119e-01 7.44716481e-03 2.12840397e+01] [-1.08884812e-01 9.94054011e-01 -8.49298725e-04 -1.41153649e+00] [-7.49536259e-03 3.33419700e-05 9.99971909e-01 -6.32384921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.41, Z:-0.63 [[ 9.94220467e-01 1.07073410e-01 7.80685168e-03 2.13175662e+01] [-1.07069707e-01 9.94251116e-01 -8.91899396e-04 -1.41250333e+00] [-7.85746971e-03 5.08673118e-05 9.99969128e-01 -6.32539650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.42, Z:-0.63 [[ 9.94263167e-01 1.06686657e-01 7.66237017e-03 2.13502834e+01] [-1.06683068e-01 9.94292690e-01 -8.76804951e-04 -1.41522374e+00] [-7.71218204e-03 5.43297098e-05 9.99970259e-01 -6.33295287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.42, Z:-0.63 [[ 9.94289457e-01 1.06441192e-01 7.66473424e-03 2.13818789e+01] [-1.06437580e-01 9.94318998e-01 -8.78761161e-04 -1.41833614e+00] [-7.71472725e-03 5.79271947e-05 9.99970239e-01 -6.33687326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.42, Z:-0.63 [[ 9.94321557e-01 1.06122992e-01 7.90901768e-03 2.14140308e+01] [-1.06119124e-01 9.94353009e-01 -9.08384369e-04 -1.42087235e+00] [-7.96075599e-03 6.39281336e-05 9.99968311e-01 -6.34268005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.42, Z:-0.63 [[ 9.94316845e-01 1.06170292e-01 7.86646772e-03 2.14459887e+01] [-1.06166455e-01 9.94347960e-01 -9.04943208e-04 -1.42448669e+00] [-7.91808422e-03 6.46452810e-05 9.99968649e-01 -6.34924513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.43, Z:-0.64 [[ 9.94319344e-01 1.06125995e-01 8.14337260e-03 2.14786852e+01] [-1.06121869e-01 9.94352688e-01 -9.38293846e-04 -1.42821210e+00] [-8.19696180e-03 6.87738011e-05 9.99966402e-01 -6.35108157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.43, Z:-0.64 [[ 9.94260356e-01 1.06565964e-01 9.48896043e-03 2.15108837e+01] [-1.06560358e-01 9.94305632e-01 -1.09588284e-03 -1.43110095e+00] [-9.55171060e-03 7.84458460e-05 9.99954378e-01 -6.35048793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.43, Z:-0.64 [[ 9.94195098e-01 1.07204828e-01 9.12317265e-03 2.15436233e+01] [-1.07199660e-01 9.94236954e-01 -1.05502829e-03 -1.43466369e+00] [-9.18369951e-03 7.09029462e-05 9.99957826e-01 -6.35432305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:-1.44, Z:-0.64 [[ 9.94066681e-01 1.08393155e-01 9.07512006e-03 2.15758965e+01] [-1.08388074e-01 9.94108103e-01 -1.05130982e-03 -1.43748012e+00] [-9.13560517e-03 6.14372820e-05 9.99958268e-01 -6.36563451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.44, Z:-0.64 [[ 9.93987015e-01 1.09148755e-01 8.73861293e-03 2.16082892e+01] [-1.09144062e-01 9.94025425e-01 -1.01364039e-03 -1.44119180e+00] [-8.79704103e-03 5.37776815e-05 9.99961304e-01 -6.37116913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.45, Z:-0.64 [[ 9.93903189e-01 1.09925694e-01 8.53181433e-03 2.16408773e+01] [-1.09921236e-01 9.93939807e-01 -9.91107111e-04 -1.44530234e+00] [-8.58905802e-03 4.72369404e-05 9.99963112e-01 -6.38028941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.45, Z:-0.64 [[ 9.93833820e-01 1.10575440e-01 8.21039125e-03 2.16721613e+01] [-1.10571321e-01 9.93867733e-01 -9.55342905e-04 -1.44936688e+00] [-8.26568040e-03 4.16182846e-05 9.99965838e-01 -6.38719829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.71, Y:-1.45, Z:-0.64 [[ 9.93641921e-01 1.12307981e-01 7.91520675e-03 2.17051447e+01] [-1.12304199e-01 9.93673446e-01 -9.22123307e-04 -1.45345806e+00] [-7.96869257e-03 2.73494196e-05 9.99968249e-01 -6.39036861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.46, Z:-0.64 [[ 9.93519567e-01 1.13382556e-01 7.95402195e-03 2.17383854e+01] [-1.13378758e-01 9.93551406e-01 -9.28190588e-04 -1.45744430e+00] [-8.00797031e-03 2.03583797e-05 9.99967935e-01 -6.39563774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.46, Z:-0.64 [[ 9.93359037e-01 1.14773740e-01 8.05065117e-03 2.17710132e+01] [-1.14769882e-01 9.93391659e-01 -9.41094145e-04 -1.46141485e+00] [-8.10546262e-03 1.08720853e-05 9.99967150e-01 -6.39986354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.46, Z:-0.64 [[ 9.92931597e-01 1.18398561e-01 8.28400238e-03 2.18026216e+01] [-1.18394587e-01 9.92966153e-01 -9.70243682e-04 -1.46412523e+00] [-8.34060943e-03 -1.73954325e-05 9.99965216e-01 -6.35885078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.47, Z:-0.64 [[ 9.92660406e-01 1.20638478e-01 8.46618013e-03 2.18349370e+01] [-1.20634395e-01 9.92696508e-01 -9.93120106e-04 -1.46797545e+00] [-8.52415595e-03 -3.54815146e-05 9.99963668e-01 -6.40586294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.47, Z:-0.64 [[ 9.92109135e-01 1.25125444e-01 7.94272375e-03 2.18678894e+01] [-1.25121984e-01 9.92140927e-01 -9.32970400e-04 -1.46945618e+00] [-7.99703964e-03 -6.82008998e-05 9.99968021e-01 -6.41056128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.47, Z:-0.64 [[ 9.91838385e-01 1.27268226e-01 7.70819106e-03 2.18994901e+01] [-1.27265020e-01 9.91868334e-01 -9.06949758e-04 -1.47115904e+00] [-7.76093651e-03 -8.14355048e-05 9.99969880e-01 -6.42099794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.47, Z:-0.64 [[ 9.91611599e-01 1.29042387e-01 7.38228215e-03 2.19322019e+01] [-1.29039489e-01 9.91639075e-01 -8.69653162e-04 -1.47314234e+00] [-7.43278156e-03 -9.02477497e-05 9.99972372e-01 -6.43228092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.97, Y:-1.47, Z:-0.64 [[ 9.91338083e-01 1.31184623e-01 6.27694113e-03 2.19650083e+01] [-1.31182566e-01 9.91357951e-01 -7.40095280e-04 -1.47416916e+00] [-6.31978462e-03 -8.97406112e-05 9.99980026e-01 -6.44529279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.00, Y:-1.48, Z:-0.65 [[ 9.91291433e-01 1.31537768e-01 6.25376275e-03 2.19980424e+01] [-1.31535726e-01 9.91311156e-01 -7.38539438e-04 -1.47711082e+00] [-6.29657061e-03 -9.04854029e-05 9.99980172e-01 -6.45089078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.48, Z:-0.65 [[ 9.91293235e-01 1.31480190e-01 7.11913803e-03 2.20309755e+01] [-1.31477530e-01 9.91318793e-01 -8.42456390e-04 -1.47978376e+00] [-7.16810165e-03 -1.00885361e-04 9.99974304e-01 -6.45502403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.48, Z:-0.65 [[ 9.91531952e-01 1.29592480e-01 8.37714061e-03 2.20632283e+01] [-1.29588708e-01 9.91567335e-01 -9.93796348e-04 -1.48056621e+00] [-8.43528752e-03 -1.00201997e-04 9.99964417e-01 -6.45099855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.48, Z:-0.65 [[ 9.91732118e-01 1.28013500e-01 8.94146960e-03 2.20961856e+01] [-1.28009122e-01 9.91772421e-01 -1.06254428e-03 -1.48315087e+00] [-9.00392296e-03 -9.08303895e-05 9.99959460e-01 -6.45160010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.13, Y:-1.49, Z:-0.64 [[ 9.92202668e-01 1.24195242e-01 1.04597967e-02 2.21295453e+01] [-1.24189011e-01 9.92257798e-01 -1.24557112e-03 -1.48522843e+00] [-1.05335089e-02 -6.31328251e-05 9.99944519e-01 -6.44872303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868623853000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.49, Z:-0.65 [[ 9.92450401e-01 1.22138825e-01 1.11493890e-02 2.21625487e+01] [-1.22131590e-01 9.92513025e-01 -1.33007530e-03 -1.48892194e+00] [-1.12283677e-02 -4.16588429e-05 9.99936959e-01 -6.45391055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.19, Y:-1.49, Z:-0.65 [[ 9.92697828e-01 1.20055417e-01 1.17354106e-02 2.21944147e+01] [-1.20047225e-01 9.92767192e-01 -1.40254181e-03 -1.49253695e+00] [-1.18189134e-02 -1.65032707e-05 9.99930154e-01 -6.46163371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.50, Z:-0.65 [[ 9.92932867e-01 1.18047269e-01 1.22132615e-02 2.22260592e+01] [-1.18038216e-01 9.93007977e-01 -1.46201570e-03 -1.49614353e+00] [-1.23004531e-02 1.00518419e-05 9.99924347e-01 -6.46959428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.50, Z:-0.65 [[ 9.93360940e-01 1.14390465e-01 1.22010109e-02 2.22586424e+01] [-1.14381128e-01 9.93435865e-01 -1.46265005e-03 -1.49953644e+00] [-1.22882350e-02 5.73740506e-05 9.99924495e-01 -6.47078561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.50, Z:-0.65 [[ 9.93535285e-01 1.12882399e-01 1.20499812e-02 2.22915546e+01] [-1.12873154e-01 9.93608352e-01 -1.44680704e-03 -1.50301576e+00] [-1.21362810e-02 7.73344623e-05 9.99926350e-01 -6.48316315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.51, Z:-0.65 [[ 9.93665270e-01 1.11789699e-01 1.15063172e-02 2.23248045e+01] [-1.11781172e-01 9.93731883e-01 -1.38357413e-03 -1.50680133e+00] [-1.15888636e-02 8.86199446e-05 9.99932843e-01 -6.49533468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048623853000002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.51, Z:-0.65 [[ 9.93849307e-01 1.10327100e-01 9.56484183e-03 2.23563966e+01] [-1.10321127e-01 9.93895328e-01 -1.15143991e-03 -1.51069411e+00] [-9.63348664e-03 8.91536237e-05 9.99953593e-01 -6.50966083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.52, Z:-0.65 [[ 9.93895348e-01 1.09947564e-01 9.14169556e-03 2.23895307e+01] [-1.09942080e-01 9.93937385e-01 -1.10173193e-03 -1.51512371e+00] [-9.20740572e-03 8.99492104e-05 9.99957607e-01 -6.51783186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.42, Y:-1.52, Z:-0.65 [[ 9.93884973e-01 1.10075895e-01 8.71537909e-03 2.24223634e+01] [-1.10070902e-01 9.93923181e-01 -1.05191435e-03 -1.51981143e+00] [-8.77820772e-03 8.61722252e-05 9.99961467e-01 -6.48686879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.52, Z:-0.65 [[ 9.93871053e-01 1.10182625e-01 8.95094576e-03 2.24537178e+01] [-1.10177345e-01 9.93911355e-01 -1.08239309e-03 -1.52443587e+00] [-9.01570753e-03 8.95677247e-05 9.99959354e-01 -6.52317855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.53, Z:-0.65 [[ 9.93845885e-01 1.10398702e-01 9.08208317e-03 2.24868783e+01] [-1.10393259e-01 9.93887377e-01 -1.09996732e-03 -1.52827029e+00] [-9.14800279e-03 9.05972337e-05 9.99958152e-01 -6.52716461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.53, Z:-0.65 [[ 9.93792618e-01 1.10829596e-01 9.64538928e-03 2.25194650e+01] [-1.10823457e-01 9.93839420e-01 -1.17027017e-03 -1.53202027e+00] [-9.71566866e-03 9.40704698e-05 9.99952797e-01 -6.53410308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.54, Z:-0.65 [[ 9.93787104e-01 1.10859998e-01 9.86171345e-03 2.25522518e+01] [-1.10853562e-01 9.93836028e-01 -1.19853041e-03 -1.53680203e+00] [-9.93379520e-03 9.78780016e-05 9.99950654e-01 -6.54328683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.54, Z:-0.65 [[ 9.93823709e-01 1.10544830e-01 9.70955297e-03 2.25846823e+01] [-1.10538559e-01 9.93871134e-01 -1.18181898e-03 -1.54192182e+00] [-9.78068839e-03 1.01239735e-04 9.99952163e-01 -6.54995833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.55, Z:-0.66 [[ 9.93853698e-01 1.10333312e-01 9.02147885e-03 2.26164665e+01] [-1.10327869e-01 9.93894638e-01 -1.10034677e-03 -1.54694204e+00] [-9.08780435e-03 9.82631653e-05 9.99958700e-01 -6.55906655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.55, Z:-0.66 [[ 9.93966252e-01 1.09361776e-01 8.43157083e-03 2.26481032e+01] [-1.09356984e-01 9.94002008e-01 -1.02867621e-03 -1.55191100e+00] [-8.49349619e-03 1.00418283e-04 9.99963925e-01 -6.56957507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.56, Z:-0.65 [[ 9.93997368e-01 1.09092629e-01 8.24807872e-03 2.26811008e+01] [-1.09088024e-01 9.94031583e-01 -1.00756919e-03 -1.55611475e+00] [-8.30876912e-03 1.01754513e-04 9.99965476e-01 -6.53741789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.56, Z:-0.66 [[ 9.94003034e-01 1.09010696e-01 8.63927269e-03 2.27136428e+01] [-1.09005624e-01 9.94040571e-01 -1.05716269e-03 -1.56157655e+00] [-8.70302960e-03 1.09093612e-04 9.99962122e-01 -6.58170489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.75, Y:-1.57, Z:-0.66 [[ 9.93877063e-01 1.10150775e-01 8.67123141e-03 2.27461068e+01] [-1.10145695e-01 9.93914884e-01 -1.06273609e-03 -1.56689937e+00] [-8.73552716e-03 1.01130217e-04 9.99961839e-01 -6.58522515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:22.78, Y:-1.57, Z:-0.66 [[ 9.93749352e-01 1.11313836e-01 8.45315121e-03 2.27781675e+01] [-1.11309029e-01 9.93785300e-01 -1.03840800e-03 -1.57099285e+00] [-8.51620659e-03 9.10052232e-05 9.99963732e-01 -6.55672615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.81, Y:-1.58, Z:-0.66 [[ 9.93615313e-01 1.12469542e-01 8.90006625e-03 2.28102276e+01] [-1.12464251e-01 9.93655169e-01 -1.09435050e-03 -1.57639291e+00] [-8.96667793e-03 8.64241318e-05 9.99959795e-01 -6.59924087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:-1.58, Z:-0.66 [[ 9.93267517e-01 1.15384595e-01 1.02973007e-02 2.28420732e+01] [-1.15377648e-01 9.93320890e-01 -1.26822222e-03 -1.58237209e+00] [-1.03748572e-02 7.16056069e-05 9.99946177e-01 -6.59764811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.87, Y:-1.59, Z:-0.66 [[ 9.93092003e-01 1.16841696e-01 1.07839066e-02 2.28744614e+01] [-1.16834153e-01 9.93150550e-01 -1.32897634e-03 -1.58659720e+00] [-1.08653227e-02 5.98671744e-05 9.99940969e-01 -6.60269071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.91, Y:-1.59, Z:-0.66 [[ 9.93075327e-01 1.16983372e-01 1.07835900e-02 2.29076841e+01] [-1.16975810e-01 9.93133872e-01 -1.33153938e-03 -1.59086562e+00] [-1.08653164e-02 6.08997326e-05 9.99940969e-01 -6.60915751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.59, Z:-0.66 [[ 9.92737875e-01 1.19818214e-01 1.07287677e-02 2.29408993e+01] [-1.19810882e-01 9.92795847e-01 -1.32584041e-03 -1.59460924e+00] [-1.08103358e-02 3.07888726e-05 9.99941566e-01 -6.61612498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.97, Y:-1.60, Z:-0.66 [[ 9.92623885e-01 1.20749980e-01 1.08289409e-02 2.29726553e+01] [-1.20742541e-01 9.92682951e-01 -1.34054112e-03 -1.59902039e+00] [-1.09115754e-02 2.31392814e-05 9.99940467e-01 -6.62852440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.60, Z:-0.66 [[ 9.92557420e-01 1.21321296e-01 1.05314710e-02 2.30045697e+01] [-1.21314271e-01 9.92613290e-01 -1.30564177e-03 -1.60399757e+00] [-1.06120803e-02 1.83066934e-05 9.99943690e-01 -6.63915264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.61, Z:-0.66 [[ 9.92530296e-01 1.21615536e-01 9.65777477e-03 2.30358506e+01] [-1.21609623e-01 9.92577282e-01 -1.19936202e-03 -1.61035105e+00] [-9.73194889e-03 1.59247906e-05 9.99952643e-01 -6.64748588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.62, Z:-0.67 [[ 9.92496121e-01 1.21899121e-01 9.59451535e-03 2.30687625e+01] [-1.21893294e-01 9.92542495e-01 -1.19194353e-03 -1.61605821e+00] [-9.66826107e-03 1.34922459e-05 9.99953261e-01 -6.65655119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.62, Z:-0.67 [[ 9.92429806e-01 1.22456985e-01 9.34699452e-03 2.31013606e+01] [-1.22451464e-01 9.92473822e-01 -1.16283163e-03 -1.62172346e+00] [-9.41904423e-03 9.47561053e-06 9.99955640e-01 -6.65878907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.13, Y:-1.63, Z:-0.67 [[ 9.92333993e-01 1.23217708e-01 9.52063332e-03 2.31333171e+01] [-1.23211996e-01 9.92379663e-01 -1.18651219e-03 -1.62684607e+00] [-9.59428220e-03 4.36014462e-06 9.99953974e-01 -6.66357501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.63, Z:-0.67 [[ 9.92041597e-01 1.25458818e-01 1.06562367e-02 2.31659268e+01] [-1.25451766e-01 9.92098828e-01 -1.33036566e-03 -1.63253572e+00] [-1.07389461e-02 -1.70656401e-05 9.99942336e-01 -6.67007365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.64, Z:-0.67 [[ 9.91829173e-01 1.27089760e-01 1.10943725e-02 2.31986841e+01] [-1.27082192e-01 9.91891220e-01 -1.38735329e-03 -1.63797785e+00] [-1.11807291e-02 -3.38797041e-05 9.99937493e-01 -6.67216883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.64, Z:-0.67 [[ 9.91619612e-01 1.28713658e-01 1.11058571e-02 2.32314288e+01] [-1.28706153e-01 9.91681800e-01 -1.39082762e-03 -1.64333343e+00] [-1.11924949e-02 -5.02201965e-05 9.99937361e-01 -6.67524815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.65, Z:-0.67 [[ 9.91175120e-01 1.32045158e-01 1.16601000e-02 2.32629638e+01] [-1.32037085e-01 9.91243698e-01 -1.46287584e-03 -1.64811193e+00] [-1.17511663e-02 -8.95994740e-05 9.99930949e-01 -6.68025713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.65, Z:-0.67 [[ 9.90935967e-01 1.33853739e-01 1.13615874e-02 2.32945913e+01] [-1.33846169e-01 9.91001093e-01 -1.42747781e-03 -1.65118300e+00] [-1.14504188e-02 -1.06165843e-04 9.99934436e-01 -6.66456279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.65, Z:-0.67 [[ 9.90451513e-01 1.37450638e-01 1.06359252e-02 2.33262095e+01] [-1.37444192e-01 9.90508608e-01 -1.33808695e-03 -1.65434114e+00] [-1.07188964e-02 -1.36535909e-04 9.99942542e-01 -6.69279709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.66, Z:-0.67 [[ 9.90190180e-01 1.39325704e-01 1.05714676e-02 2.33595399e+01] [-1.39319424e-01 9.90246598e-01 -1.33180092e-03 -1.65770277e+00] [-1.06539139e-02 -1.54074588e-04 9.99943234e-01 -6.67444490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.66, Z:-0.67 [[ 9.89952573e-01 1.40989908e-01 1.07587077e-02 2.33921948e+01] [-1.40983479e-01 9.90011018e-01 -1.35748740e-03 -1.66190888e+00] [-1.08426312e-02 -1.72951893e-04 9.99941202e-01 -6.70679736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.66, Z:-0.67 [[ 9.89599254e-01 1.43528890e-01 9.63193752e-03 2.34241834e+01] [-1.43523841e-01 9.89646112e-01 -1.21690986e-03 -1.66409693e+00] [-9.70687123e-03 -1.78159581e-04 9.99952871e-01 -6.67851554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.67, Z:-0.67 [[ 9.89451869e-01 1.44550230e-01 9.49893329e-03 2.34557916e+01] [-1.44545351e-01 9.89497447e-01 -1.20179904e-03 -1.66812688e+00] [-9.57289056e-03 -1.83904342e-04 9.99954162e-01 -6.70922539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.67, Z:-0.67 [[ 9.89380708e-01 1.45039058e-01 9.45976728e-03 2.34891104e+01] [-1.45034227e-01 9.89425913e-01 -1.19839117e-03 -1.67156067e+00] [-9.53355240e-03 -1.86324931e-04 9.99954537e-01 -6.70396585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.67, Z:-0.67 [[ 9.89477202e-01 1.44338076e-01 1.00691106e-02 2.35211001e+01] [-1.44332537e-01 9.89528415e-01 -1.27841596e-03 -1.67402682e+00] [-1.01481952e-02 -1.88336837e-04 9.99948488e-01 -6.73886562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.68, Z:-0.67 [[ 9.89568822e-01 1.43671781e-01 1.05814270e-02 2.35537345e+01] [-1.43665618e-01 9.89625375e-01 -1.34424910e-03 -1.67718553e+00] [-1.06647793e-02 -1.89960250e-04 9.99943112e-01 -6.74341542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.68, Z:-0.67 [[ 9.89731857e-01 1.42506580e-01 1.10781850e-02 2.35866997e+01] [-1.42499726e-01 9.89793838e-01 -1.40962316e-03 -1.68070283e+00] [-1.11659998e-02 -1.83489381e-04 9.99937641e-01 -6.74684922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218623853 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.68, Z:-0.67 [[ 9.90185023e-01 1.39298204e-01 1.13855397e-02 2.36188811e+01] [-1.39290720e-01 9.90250468e-01 -1.45152348e-03 -1.68380263e+00] [-1.14767306e-02 -1.48623213e-04 9.99934129e-01 -6.71814683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.69, Z:-0.67 [[ 9.90356611e-01 1.38072115e-01 1.13962125e-02 2.36519581e+01] [-1.38064527e-01 9.90422169e-01 -1.45367824e-03 -1.68781213e+00] [-1.14877740e-02 -1.33752839e-04 9.99934004e-01 -6.71540022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.69, Z:-0.68 [[ 9.90942098e-01 1.33828693e-01 1.11192736e-02 2.36845927e+01] [-1.33821180e-01 9.91004477e-01 -1.42034602e-03 -1.69152693e+00] [-1.12093330e-02 -8.05136572e-05 9.99937170e-01 -6.77006053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:-1.70, Z:-0.68 [[ 9.91179872e-01 1.32052400e-01 1.11635355e-02 2.37166111e+01] [-1.32044690e-01 9.91242735e-01 -1.42818477e-03 -1.69591258e+00] [-1.12543687e-02 -5.84975887e-05 9.99936666e-01 -6.78134989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.75, Y:-1.70, Z:-0.68 [[ 9.91402588e-01 1.30365875e-01 1.12092711e-02 2.37497615e+01] [-1.30357973e-01 9.91465954e-01 -1.43583186e-03 -1.70051618e+00] [-1.13007942e-02 -3.77304428e-05 9.99936143e-01 -6.78515254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.71, Z:-0.68 [[ 9.91591133e-01 1.28948722e-01 1.09202485e-02 2.37819116e+01] [-1.28941113e-01 9.91651263e-01 -1.40094540e-03 -1.70514958e+00] [-1.10097284e-02 -1.89039635e-05 9.99939391e-01 -6.79089067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.71, Z:-0.68 [[ 9.91898569e-01 1.26602980e-01 1.04362228e-02 2.38139274e+01] [-1.26595882e-01 9.91953469e-01 -1.34065660e-03 -1.70938398e+00] [-1.05219785e-02 8.61252869e-06 9.99944642e-01 -6.79866885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.85, Y:-1.71, Z:-0.68 [[ 9.91960020e-01 1.26094625e-01 1.07454326e-02 2.38468297e+01] [-1.26087050e-01 9.92018218e-01 -1.38217745e-03 -1.71317790e+00] [-1.08339500e-02 1.62048685e-05 9.99941311e-01 -6.80558235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.72, Z:-0.68 [[ 9.91983223e-01 1.25896172e-01 1.09288143e-02 2.38786118e+01] [-1.25888300e-01 9.92043423e-01 -1.40802664e-03 -1.71614057e+00] [-1.10191235e-02 2.09289641e-05 9.99939287e-01 -6.80845914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:-1.72, Z:-0.68 [[ 9.91948514e-01 1.26120918e-01 1.14743028e-02 2.39105114e+01] [-1.26112229e-01 9.92014876e-01 -1.48061361e-03 -1.72022741e+00] [-1.15694154e-02 2.16425732e-05 9.99933072e-01 -6.81349989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.73, Z:-0.68 [[ 9.91902837e-01 1.26431452e-01 1.19937838e-02 2.39434121e+01] [-1.26421956e-01 9.91975346e-01 -1.54967126e-03 -1.72505038e+00] [-1.20934651e-02 2.08457048e-05 9.99926871e-01 -6.81797614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.73, Z:-0.68 [[ 9.91841837e-01 1.26919280e-01 1.18856081e-02 2.39748466e+01] [-1.26909962e-01 9.91913049e-01 -1.53800876e-03 -1.73032083e+00] [-1.19846928e-02 1.70593637e-05 9.99928181e-01 -6.81874449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.01, Y:-1.73, Z:-0.68 [[ 9.91787282e-01 1.27360039e-01 1.17221096e-02 2.40077919e+01] [-1.27350984e-01 9.91856552e-01 -1.51880532e-03 -1.73452151e+00] [-1.18200863e-02 1.35096174e-05 9.99930140e-01 -6.83044464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.04, Y:-1.74, Z:-0.68 [[ 9.91748149e-01 1.27691562e-01 1.14225416e-02 2.40394298e+01] [-1.27682960e-01 9.91813927e-01 -1.48214496e-03 -1.73823787e+00] [-1.15182933e-02 1.14505990e-05 9.99933662e-01 -6.83913633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.74, Z:-0.68 [[ 9.91714386e-01 1.27955640e-01 1.13987241e-02 2.40717914e+01] [-1.27947069e-01 9.91779892e-01 -1.48094816e-03 -1.74193878e+00] [-1.14945211e-02 1.02442444e-05 9.99933936e-01 -6.84544240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.75, Z:-0.69 [[ 9.91682708e-01 1.28293336e-01 1.03065841e-02 2.41031988e+01] [-1.28286325e-01 9.91736265e-01 -1.34126697e-03 -1.74662256e+00] [-1.03934889e-02 7.91746380e-06 9.99945986e-01 -6.85720922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.75, Z:-0.69 [[ 9.91651390e-01 1.28589435e-01 9.60609964e-03 2.41347391e+01] [-1.28583355e-01 9.91697916e-01 -1.25054142e-03 -1.75139433e+00] [-9.68715541e-03 4.91661893e-06 9.99953078e-01 -6.86342029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.17, Y:-1.76, Z:-0.69 [[ 9.91491733e-01 1.29781782e-01 1.00415052e-02 2.41666254e+01] [-1.29775179e-01 9.91542581e-01 -1.30912372e-03 -1.75611813e+00] [-1.01264803e-02 -5.15277695e-06 9.99948726e-01 -6.86994883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:-1.76, Z:-0.69 [[ 9.91374417e-01 1.30671874e-01 1.00810010e-02 2.41989628e+01] [-1.30665249e-01 9.91425671e-01 -1.31592868e-03 -1.76062388e+00] [-1.01665181e-02 -1.26584856e-05 9.99948320e-01 -6.86752326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.76, Z:-0.69 [[ 9.91216793e-01 1.31825431e-01 1.05510990e-02 2.42320529e+01] [-1.31818217e-01 9.91272947e-01 -1.37929812e-03 -1.76494206e+00] [-1.06408456e-02 -2.36435994e-05 9.99943384e-01 -6.87560708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.77, Z:-0.69 [[ 9.90807940e-01 1.34776415e-01 1.16165509e-02 2.42634685e+01] [-1.34767842e-01 9.90876034e-01 -1.52126274e-03 -1.76842756e+00] [-1.17155922e-02 -5.82582890e-05 9.99931368e-01 -6.87210104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.77, Z:-0.69 [[ 9.90557728e-01 1.36579958e-01 1.18870992e-02 2.42962803e+01] [-1.36571085e-01 9.90629047e-01 -1.55882931e-03 -1.77216657e+00] [-1.19886106e-02 -7.93236155e-05 9.99928131e-01 -6.87671337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.78, Z:-0.69 [[ 9.90283570e-01 1.38577303e-01 1.16095305e-02 2.43294626e+01] [-1.38568952e-01 9.90351615e-01 -1.52452090e-03 -1.77574861e+00] [-1.17087813e-02 -9.90124852e-05 9.99931445e-01 -6.88040515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.78, Z:-0.69 [[ 9.89792806e-01 1.42051684e-01 1.14682272e-02 2.43609418e+01] [-1.42043743e-01 9.89859233e-01 -1.50818750e-03 -1.77893278e+00] [-1.15661711e-02 -1.36196781e-04 9.99933100e-01 -6.89625689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.78, Z:-0.69 [[ 9.89656379e-01 1.43034019e-01 1.10236339e-02 2.43938874e+01] [-1.43026724e-01 9.89717763e-01 -1.45140239e-03 -1.78244924e+00] [-1.11178862e-02 -1.40284615e-04 9.99938185e-01 -6.90464611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.79, Z:-0.69 [[ 9.89567753e-01 1.43668650e-01 1.07229416e-02 2.44258515e+01] [-1.43661761e-01 9.89625838e-01 -1.41397474e-03 -1.78572847e+00] [-1.08148439e-02 -1.41252862e-04 9.99941508e-01 -6.91619064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.79, Z:-0.69 [[ 9.89625252e-01 1.43338548e-01 9.79392853e-03 2.44580678e+01] [-1.43332773e-01 9.89673706e-01 -1.29271240e-03 -1.78818748e+00] [-9.87808907e-03 -1.24490095e-04 9.99951203e-01 -6.92534067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.79, Z:-0.69 [[ 9.89812967e-01 1.42019351e-01 1.00396467e-02 2.44903377e+01] [-1.42013194e-01 9.89863875e-01 -1.32714210e-03 -1.79254147e+00] [-1.01263635e-02 -1.12139838e-04 9.99948721e-01 -6.93317637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.80, Z:-0.69 [[ 9.90049670e-01 1.40344844e-01 1.02457735e-02 2.45222838e+01] [-1.40338326e-01 9.90102679e-01 -1.35602594e-03 -1.79761106e+00] [-1.03346791e-02 -9.53416681e-05 9.99946591e-01 -6.93781117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.80, Z:-0.69 [[ 9.90742779e-01 1.35351160e-01 1.04312089e-02 2.45547591e+01] [-1.35344108e-01 9.90797690e-01 -1.38236189e-03 -1.80365428e+00] [-1.05223220e-02 -4.22375969e-05 9.99944638e-01 -6.94305141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.81, Z:-0.69 [[ 9.91129804e-01 1.32488032e-01 1.04227139e-02 2.45870168e+01] [-1.32480812e-01 9.91184605e-01 -1.38316408e-03 -1.80919948e+00] [-1.05140863e-02 -9.91445631e-06 9.99944725e-01 -6.94918247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.82, Z:-0.70 [[ 9.91520121e-01 1.29513971e-01 1.06761431e-02 2.46191279e+01] [-1.29506201e-01 9.91577597e-01 -1.41886111e-03 -1.81537125e+00] [-1.07699867e-02 2.42026022e-05 9.99942002e-01 -6.95777780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.82, Z:-0.70 [[ 9.92274453e-01 1.23636085e-01 1.02726921e-02 2.46501152e+01] [-1.23628552e-01 9.92327623e-01 -1.36762736e-03 -1.82326071e+00] [-1.03629643e-02 8.70636423e-05 9.99946299e-01 -6.96198117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.83, Z:-0.70 [[ 9.92564175e-01 1.21292347e-01 1.02237861e-02 2.46824726e+01] [-1.21284755e-01 9.92616821e-01 -1.36167896e-03 -1.82961002e+00] [-1.03134633e-02 1.11564364e-04 9.99946809e-01 -6.97144650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.84, Z:-0.70 [[ 9.93009620e-01 1.17583620e-01 1.02950195e-02 2.47142939e+01] [-1.17575703e-01 9.93062973e-01 -1.37306628e-03 -1.83897535e+00] [-1.03850528e-02 1.53023879e-04 9.99946062e-01 -6.97679670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:24.75, Y:-1.85, Z:-0.70 [[ 9.93135366e-01 1.16543797e-01 9.98442876e-03 2.47462434e+01] [-1.16536281e-01 9.93185540e-01 -1.33328079e-03 -1.84659241e+00] [-1.00717759e-02 1.60580102e-04 9.99949265e-01 -6.98082753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.78, Y:-1.85, Z:-0.70 [[ 9.93194348e-01 1.16045946e-01 9.91590323e-03 2.47777659e+01] [-1.16038488e-01 9.93243832e-01 -1.32610830e-03 -1.85421230e+00] [-1.00027992e-02 1.66456851e-04 9.99949957e-01 -6.98717751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.86, Z:-0.70 [[ 9.93204404e-01 1.15968858e-01 9.80998869e-03 2.48105538e+01] [-1.15961538e-01 9.93252836e-01 -1.31366478e-03 -1.86149042e+00] [-9.89614329e-03 1.67156270e-04 9.99951018e-01 -6.99354237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.87, Z:-0.70 [[ 9.93127746e-01 1.16670039e-01 9.24021931e-03 2.48423497e+01] [-1.16663552e-01 9.93170720e-01 -1.23980988e-03 -1.87059210e+00] [-9.32176393e-03 1.53292786e-04 9.99956540e-01 -6.99849972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388623853000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.88, Y:-1.88, Z:-0.70 [[ 9.93025635e-01 1.17534444e-01 9.25975846e-03 2.48752082e+01] [-1.17527971e-01 9.93068796e-01 -1.24201267e-03 -1.87744672e+00] [-9.34155646e-03 1.45069795e-04 9.99956356e-01 -7.00309937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:24.91, Y:-1.88, Z:-0.70 [[ 9.92884609e-01 1.18739773e-01 9.00108569e-03 2.49068940e+01] [-1.18733690e-01 9.92925400e-01 -1.20909656e-03 -1.88365211e+00] [-9.08097445e-03 1.31761253e-04 9.99958758e-01 -6.96920738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:24.94, Y:-1.89, Z:-0.70 [[ 9.92874754e-01 1.18822177e-01 9.00074229e-03 2.49400687e+01] [-1.18816074e-01 9.92915541e-01 -1.21164592e-03 -1.88826248e+00] [-9.08094731e-03 1.33579781e-04 9.99958758e-01 -6.97567425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:24.97, Y:-1.90, Z:-0.70 [[ 9.92529888e-01 1.21619681e-01 9.64750272e-03 2.49705652e+01] [-1.21612801e-01 9.92576768e-01 -1.29873883e-03 -1.89891566e+00] [-9.73383927e-03 1.15777270e-04 9.99952618e-01 -7.01710975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508623853 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:25.00, Y:-1.91, Z:-0.70 [[ 9.92292358e-01 1.23596527e-01 8.93163679e-03 2.50027186e+01] [-1.23590701e-01 9.92332550e-01 -1.20346809e-03 -1.90528274e+00] [-9.01189839e-03 9.03249388e-05 9.99959388e-01 -6.97916272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.91, Z:-0.70 [[ 9.91667014e-01 1.28481697e-01 9.43332631e-03 2.50331615e+01] [-1.28475397e-01 9.91711879e-01 -1.27333997e-03 -1.91482916e+00] [-9.51874264e-03 5.07789035e-05 9.99954694e-01 -7.02240625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.07, Y:-1.92, Z:-0.70 [[ 9.91236125e-01 1.31735073e-01 9.83946844e-03 2.50659732e+01] [-1.31728359e-01 9.91284959e-01 -1.33012228e-03 -1.92114178e+00] [-9.92894082e-03 2.23282209e-05 9.99950707e-01 -7.02370398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.10, Y:-1.93, Z:-0.70 [[ 9.90750579e-01 1.35323879e-01 1.00368074e-02 2.50987571e+01] [-1.35317057e-01 9.90801417e-01 -1.35890203e-03 -1.92662319e+00] [-1.01283748e-02 -1.18182566e-05 9.99948707e-01 -7.02484202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.13, Y:-1.93, Z:-0.70 [[ 9.90183375e-01 1.39386941e-01 1.04002620e-02 2.51310647e+01] [-1.39379816e-01 9.90237991e-01 -1.41031841e-03 -1.93205010e+00] [-1.04953146e-02 -5.31127692e-05 9.99944921e-01 -7.03317712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.16, Y:-1.94, Z:-0.70 [[ 9.89007107e-01 1.47495348e-01 1.04911610e-02 2.51628807e+01] [-1.47488524e-01 9.89062740e-01 -1.42541201e-03 -1.93748043e+00] [-1.05866580e-02 -1.37583241e-04 9.99943950e-01 -7.03409970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688623853000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.20, Y:-1.94, Z:-0.70 [[ 9.88386021e-01 1.51603742e-01 1.04584512e-02 2.51956222e+01] [-1.51597184e-01 9.88441335e-01 -1.42162132e-03 -1.94195814e+00] [-1.05530886e-02 -1.80361113e-04 9.99944298e-01 -7.03971738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.23, Y:-1.95, Z:-0.70 [[ 9.87770620e-01 1.55554479e-01 1.05833053e-02 2.52269557e+01] [-1.55547965e-01 9.87827290e-01 -1.44082691e-03 -1.94611052e+00] [-1.06786049e-02 -2.23005118e-04 9.99942957e-01 -7.04808975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:25.26, Y:-1.95, Z:-0.71 [[ 9.86666874e-01 1.62405551e-01 1.06261903e-02 2.52585265e+01] [-1.62399361e-01 9.86724049e-01 -1.44866119e-03 -1.94903152e+00] [-1.07203881e-02 -2.96340495e-04 9.99942491e-01 -7.05675435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.29, Y:-1.95, Z:-0.71 [[ 9.86153310e-01 1.65490756e-01 1.06985341e-02 2.52914235e+01] [-1.65484642e-01 9.86211286e-01 -1.46031058e-03 -1.95239433e+00] [-1.07926830e-02 -3.30352978e-04 9.99941703e-01 -7.06026351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.32, Y:-1.95, Z:-0.71 [[ 9.85267835e-01 1.70673763e-01 1.08516893e-02 2.53235013e+01] [-1.70667763e-01 9.85327516e-01 -1.48346231e-03 -1.95360403e+00] [-1.09456561e-02 -3.90425835e-04 9.99940018e-01 -7.06345842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.36, Y:-1.96, Z:-0.71 [[ 9.84935674e-01 1.72565986e-01 1.10769114e-02 2.53563070e+01] [-1.72559832e-01 9.84997871e-01 -1.51618911e-03 -1.95656152e+00] [-1.11723769e-02 -4.18081233e-04 9.99937500e-01 -7.07241050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.39, Y:-1.96, Z:-0.71 [[ 9.84717394e-01 1.73799718e-01 1.11942877e-02 2.53881428e+01] [-1.73793486e-01 9.84780925e-01 -1.53453753e-03 -1.95933286e+00] [-1.12906232e-02 -4.34408480e-04 9.99936165e-01 -7.07664704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.42, Y:-1.96, Z:-0.71 [[ 9.84567169e-01 1.74656500e-01 1.10723410e-02 2.54198180e+01] [-1.74650435e-01 9.84629329e-01 -1.51977398e-03 -1.96215010e+00] [-1.11675900e-02 -4.37469603e-04 9.99937545e-01 -7.08542389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.45, Y:-1.96, Z:-0.71 [[ 9.84622459e-01 1.74373727e-01 1.06026978e-02 2.54530558e+01] [-1.74368132e-01 9.84679456e-01 -1.45694384e-03 -1.96282601e+00] [-1.06943114e-02 -4.14232977e-04 9.99942728e-01 -7.09651728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.97, Z:-0.71 [[ 9.84753248e-01 1.73617109e-01 1.08692021e-02 2.54858987e+01] [-1.73611160e-01 9.84813144e-01 -1.49569725e-03 -1.96516988e+00] [-1.09638118e-02 -4.14122067e-04 9.99939810e-01 -7.10039420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.52, Y:-1.97, Z:-0.71 [[ 9.85294909e-01 1.70444360e-01 1.19441461e-02 2.55186767e+01] [-1.70436911e-01 9.85367215e-01 -1.64629448e-03 -1.96529135e+00] [-1.20499716e-02 -4.13637810e-04 9.99927311e-01 -7.10246140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.55, Y:-1.97, Z:-0.71 [[ 9.85674208e-01 1.68211665e-01 1.22959826e-02 2.55516413e+01] [-1.68203571e-01 9.85750820e-01 -1.69696042e-03 -1.96803898e+00] [-1.24062235e-02 -3.95578066e-04 9.99922962e-01 -7.10697127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.58, Y:-1.97, Z:-0.71 [[ 9.86097168e-01 1.65691073e-01 1.26033456e-02 2.55847347e+01] [-1.65682332e-01 9.86177637e-01 -1.74179398e-03 -1.97100075e+00] [-1.27177373e-02 -3.70573585e-04 9.99919058e-01 -7.11606981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.97, Z:-0.71 [[ 9.86538813e-01 1.63041511e-01 1.25951151e-02 2.56174846e+01] [-1.63032536e-01 9.86619154e-01 -1.74295572e-03 -1.97441986e+00] [-1.27107559e-02 -3.33920091e-04 9.99919159e-01 -7.12141059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.98, Z:-0.71 [[ 9.87486384e-01 1.57209496e-01 1.24826351e-02 2.56502850e+01] [-1.57200180e-01 9.87565243e-01 -1.73014563e-03 -1.97671539e+00] [-1.25994118e-02 -2.53777221e-04 9.99920592e-01 -7.13271794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.98, Z:-0.71 [[ 9.87898472e-01 1.54640314e-01 1.19575577e-02 2.56822095e+01] [-1.54631558e-01 9.87970814e-01 -1.65896035e-03 -1.98032636e+00] [-1.20702602e-02 -2.10131390e-04 9.99927130e-01 -7.13947160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.98, Z:-0.71 [[ 9.88271938e-01 1.52277654e-01 1.14058385e-02 2.57151140e+01] [-1.52269522e-01 9.88337739e-01 -1.58314477e-03 -1.98393033e+00] [-1.15138982e-02 -1.72184028e-04 9.99933698e-01 -7.14917426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.99, Z:-0.72 [[ 9.88654117e-01 1.49806667e-01 1.09999699e-02 2.57475667e+01] [-1.49798928e-01 9.88715300e-01 -1.52874532e-03 -1.98733428e+00] [-1.11048548e-02 -1.36383352e-04 9.99938330e-01 -7.15768461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228623853000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.99, Z:-0.72 [[ 9.89355653e-01 1.45147911e-01 1.03670608e-02 2.57805868e+01] [-1.45140763e-01 9.89409964e-01 -1.44261487e-03 -1.98970812e+00] [-1.04666658e-02 -7.74239283e-05 9.99945220e-01 -7.16496202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258623853000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.99, Z:-0.72 [[ 9.89654143e-01 1.43092822e-01 1.04461275e-02 2.58126344e+01] [-1.43085427e-01 9.89709271e-01 -1.45581037e-03 -1.99291405e+00] [-1.05469452e-02 -5.39398344e-05 9.99944378e-01 -7.17142714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.00, Z:-0.72 [[ 9.89964315e-01 1.40953279e-01 1.01404170e-02 2.58440301e+01] [-1.40946179e-01 9.90016248e-01 -1.41500717e-03 -1.99599283e+00] [-1.02386275e-02 -2.84464295e-05 9.99947583e-01 -7.17690516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318623853000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.88, Y:-2.00, Z:-0.72 [[ 9.90506241e-01 1.37056942e-01 1.06197993e-02 2.58772466e+01] [-1.37048911e-01 9.90563170e-01 -1.48384623e-03 -1.99815677e+00] [-1.07229535e-02 1.43270307e-05 9.99942507e-01 -7.17738006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.91, Y:-2.00, Z:-0.72 [[ 9.90691115e-01 1.35693970e-01 1.08748322e-02 2.59086089e+01] [-1.35685440e-01 9.90750799e-01 -1.52181083e-03 -2.00187355e+00] [-1.09807493e-02 3.20880713e-05 9.99939709e-01 -7.18422520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:25.94, Y:-2.01, Z:-0.72 [[ 9.90864681e-01 1.34409999e-01 1.10061731e-02 2.59410242e+01] [-1.34401161e-01 9.90925804e-01 -1.54215199e-03 -2.00627298e+00] [-1.11135816e-02 4.88215059e-05 9.99938241e-01 -7.18928724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:25.97, Y:-2.01, Z:-0.72 [[ 9.91150155e-01 1.32300169e-01 1.08643935e-02 2.59724971e+01] [-1.32291407e-01 9.91209695e-01 -1.52444010e-03 -2.00938693e+00] [-1.09705758e-02 7.36831426e-05 9.99939819e-01 -7.19804882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:-2.01, Z:-0.72 [[ 9.91213163e-01 1.31855465e-01 1.05167866e-02 2.60041791e+01] [-1.31847209e-01 9.91268950e-01 -1.47749648e-03 -2.01265581e+00] [-1.06197800e-02 7.79050028e-05 9.99943606e-01 -7.20514129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.04, Y:-2.02, Z:-0.72 [[ 9.91242451e-01 1.31635367e-01 1.05134710e-02 2.60364573e+01] [-1.31627083e-01 9.91298201e-01 -1.47898745e-03 -2.01631611e+00] [-1.06166720e-02 8.21776247e-05 9.99943638e-01 -7.21486501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.02, Z:-0.72 [[ 9.91269819e-01 1.31441045e-01 1.03632693e-02 2.60689311e+01] [-1.31432972e-01 9.91323986e-01 -1.45923603e-03 -2.01923717e+00] [-1.04651609e-02 8.44213593e-05 9.99945235e-01 -7.22443364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528623853000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.02, Z:-0.72 [[ 9.91248656e-01 1.31614453e-01 1.01851366e-02 2.61007826e+01] [-1.31606643e-01 9.91300978e-01 -1.43623883e-03 -2.02316927e+00] [-1.02855657e-02 8.32381722e-05 9.99947099e-01 -7.22634606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.13, Y:-2.03, Z:-0.72 [[ 9.91221696e-01 1.31836598e-01 9.93281118e-03 2.61330416e+01] [-1.31829164e-01 9.91271459e-01 -1.40242516e-03 -2.02747546e+00] [-1.00310032e-02 8.06800538e-05 9.99949685e-01 -7.23482434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.03, Z:-0.72 [[ 9.91289466e-01 1.31371692e-01 9.30987468e-03 2.61657958e+01] [-1.31365126e-01 9.91333179e-01 -1.31598748e-03 -2.03211241e+00] [-9.40207117e-03 8.15316681e-05 9.99955796e-01 -7.24182499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.20, Y:-2.04, Z:-0.72 [[ 9.91338079e-01 1.30994317e-01 9.45001991e-03 2.61979446e+01] [-1.30987516e-01 9.91383115e-01 -1.33772809e-03 -2.03652863e+00] [-9.54382496e-03 8.83061619e-05 9.99954453e-01 -7.24990686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.23, Y:-2.04, Z:-0.73 [[ 9.91346080e-01 1.30919482e-01 9.64565670e-03 2.62302399e+01] [-1.30912375e-01 9.91393000e-01 -1.36727332e-03 -2.04111555e+00] [-9.74163925e-03 9.27052179e-05 9.99952545e-01 -7.25727515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.26, Y:-2.05, Z:-0.73 [[ 9.91395092e-01 1.30554042e-01 9.56103896e-03 2.62617489e+01] [-1.30547029e-01 9.91441190e-01 -1.35670022e-03 -2.04601016e+00] [-9.65633054e-03 9.68607079e-05 9.99953372e-01 -7.26063912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708623853000002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:26.29, Y:-2.05, Z:-0.72 [[ 9.91342392e-01 1.30967445e-01 9.36962454e-03 2.62942832e+01] [-1.30960715e-01 9.91386665e-01 -1.33097742e-03 -2.05102762e+00] [-9.46323554e-03 9.24016168e-05 9.99955218e-01 -7.21979442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.33, Y:-2.06, Z:-0.73 [[ 9.91344450e-01 1.30924883e-01 9.73947296e-03 2.63267308e+01] [-1.30917589e-01 9.91392286e-01 -1.38544859e-03 -2.05685705e+00] [-9.83702806e-03 9.83884527e-05 9.99951610e-01 -7.27137237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.36, Y:-2.06, Z:-0.73 [[ 9.91324305e-01 1.31068466e-01 9.85792945e-03 2.63596413e+01] [-1.31060982e-01 9.91373314e-01 -1.40414478e-03 -2.06235307e+00] [-9.95692729e-03 9.99729285e-05 9.99950424e-01 -7.28001588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798623853000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.39, Y:-2.07, Z:-0.73 [[ 9.91345997e-01 1.30877400e-01 1.02088482e-02 2.63916385e+01] [-1.30869345e-01 9.91398555e-01 -1.45602197e-03 -2.06967702e+00] [-1.03115978e-02 1.07396268e-04 9.99946828e-01 -7.28786739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:26.42, Y:-2.07, Z:-0.73 [[ 9.91329595e-01 1.30985015e-01 1.04192167e-02 2.64230872e+01] [-1.30976607e-01 9.91384342e-01 -1.48819114e-03 -2.07472517e+00] [-1.05243790e-02 1.10614273e-04 9.99944611e-01 -7.25089418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.08, Z:-0.73 [[ 9.91290197e-01 1.31254622e-01 1.07689653e-02 2.64555060e+01] [-1.31245634e-01 9.91348683e-01 -1.54017470e-03 -2.08048017e+00] [-1.08779546e-02 1.13380405e-04 9.99940827e-01 -7.28897067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888623853000002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.09, Z:-0.73 [[ 9.91251574e-01 1.31553182e-01 1.06806925e-02 2.64884963e+01] [-1.31544338e-01 9.91309108e-01 -1.52943214e-03 -2.08590251e+00] [-1.07890694e-02 1.11067391e-04 9.99941790e-01 -7.30179461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.09, Z:-0.73 [[ 9.91218483e-01 1.31879371e-01 9.68244735e-03 2.65210774e+01] [-1.31872107e-01 9.91265767e-01 -1.38776072e-03 -2.09361450e+00] [-9.78089561e-03 9.87293489e-05 9.99952161e-01 -7.31319477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:26.55, Y:-2.10, Z:-0.73 [[ 9.91190689e-01 1.32131715e-01 9.06796092e-03 2.65530515e+01] [-1.32125338e-01 9.91232163e-01 -1.30132951e-03 -2.09940418e+00] [-9.16040142e-03 9.17582921e-05 9.99958038e-01 -7.26329027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978623853000002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:26.58, Y:-2.11, Z:-0.73 [[ 9.91234364e-01 1.31759870e-01 9.68360274e-03 2.65839561e+01] [-1.31752560e-01 9.91281658e-01 -1.39178445e-03 -2.10692362e+00] [-9.78255912e-03 1.03745125e-04 9.99952144e-01 -7.32609176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008623853000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:26.62, Y:-2.11, Z:-0.73 [[ 9.91215190e-01 1.31878742e-01 1.00222124e-02 2.66168350e+01] [-1.31870902e-01 9.91265850e-01 -1.44197261e-03 -2.11320915e+00] [-1.01248424e-02 1.07666966e-04 9.99948737e-01 -7.33053077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.12, Z:-0.73 [[ 9.91105464e-01 1.32675006e-01 1.03586380e-02 2.66491228e+01] [-1.32666653e-01 9.91159590e-01 -1.49244376e-03 -2.11987907e+00] [-1.04650734e-02 1.04923335e-04 9.99945234e-01 -7.33242600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068623853000002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:26.68, Y:-2.13, Z:-0.73 [[ 9.90942198e-01 1.33855550e-01 1.07820126e-02 2.66808919e+01] [-1.33846545e-01 9.91000849e-01 -1.55577925e-03 -2.12582432e+00] [-1.08932333e-02 9.85521760e-05 9.99940662e-01 -7.33372704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098623853000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:26.71, Y:-2.13, Z:-0.73 [[ 9.90484738e-01 1.37135291e-01 1.15713493e-02 2.67135701e+01] [-1.37125117e-01 9.90552324e-01 -1.67186431e-03 -2.13178057e+00] [-1.16912986e-02 6.92334548e-05 9.99931652e-01 -7.33638504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:26.75, Y:-2.14, Z:-0.73 [[ 9.90229614e-01 1.38976912e-01 1.14336899e-02 2.67456008e+01] [-1.38967074e-01 9.90295620e-01 -1.65431231e-03 -2.13658510e+00] [-1.15526442e-02 4.92426068e-05 9.99933265e-01 -7.34170813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.14, Z:-0.74 [[ 9.89999510e-01 1.40621553e-01 1.12493734e-02 2.67781299e+01] [-1.40612114e-01 9.90063421e-01 -1.62960990e-03 -2.14196809e+00] [-1.13667514e-02 3.15148410e-05 9.99935396e-01 -7.35156812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188623853000003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.15, Z:-0.74 [[ 9.89824131e-01 1.41870105e-01 1.10028875e-02 2.68110483e+01] [-1.41861128e-01 9.89885283e-01 -1.59599054e-03 -2.14758311e+00] [-1.11180197e-02 1.88679152e-05 9.99938193e-01 -7.36376098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.15, Z:-0.73 [[ 9.89548978e-01 1.43806958e-01 1.06009060e-02 2.68432096e+01] [-1.43798716e-01 9.89605759e-01 -1.53963084e-03 -2.15386499e+00] [-1.07121272e-02 -8.56538252e-07 9.99942624e-01 -7.32573881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.16, Z:-0.74 [[ 9.89506920e-01 1.44078786e-01 1.08332084e-02 2.68756911e+01] [-1.44070171e-01 9.89566220e-01 -1.57557405e-03 -2.15908119e+00] [-1.09471839e-02 -1.70076421e-06 9.99940078e-01 -7.37363731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278623853000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:26.91, Y:-2.16, Z:-0.74 [[ 9.89452605e-01 1.44450944e-01 1.08382320e-02 2.69078802e+01] [-1.44442320e-01 9.89511963e-01 -1.57843072e-03 -2.16406784e+00] [-1.09525660e-02 -3.71698694e-06 9.99940019e-01 -7.38152909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.17, Z:-0.74 [[ 9.89468130e-01 1.44363202e-01 1.05870438e-02 2.69406157e+01] [-1.44354946e-01 9.89524768e-01 -1.54382112e-03 -2.17008245e+00] [-1.06990130e-02 -7.30347861e-07 9.99942764e-01 -7.39479427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.18, Z:-0.74 [[ 9.89552249e-01 1.43812675e-01 1.02107981e-02 2.69723056e+01] [-1.43804947e-01 9.89604928e-01 -1.49095243e-03 -2.17579782e+00] [-1.03190740e-02 7.01205657e-06 9.99946757e-01 -7.40329912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368623853000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.18, Z:-0.74 [[ 9.89616437e-01 1.43393046e-01 9.88644420e-03 2.70044258e+01] [-1.43385763e-01 9.89665819e-01 -1.44523364e-03 -2.18190788e+00] [-9.99151235e-03 1.26516213e-05 9.99950084e-01 -7.41493516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.04, Y:-2.19, Z:-0.74 [[ 9.89604612e-01 1.43474661e-01 9.88602967e-03 2.70375449e+01] [-1.43467354e-01 9.89653991e-01 -1.44806239e-03 -2.18690516e+00] [-9.99150897e-03 1.46866997e-05 9.99950084e-01 -7.42140202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.07, Y:-2.19, Z:-0.74 [[ 9.89748091e-01 1.42542878e-01 8.95786686e-03 2.70694297e+01] [-1.42536846e-01 9.89788628e-01 -1.31158266e-03 -2.19366152e+00] [-9.05335151e-03 2.13103453e-05 9.99959017e-01 -7.42992559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458623853000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:27.10, Y:-2.20, Z:-0.74 [[ 9.89771773e-01 1.42378444e-01 8.95631815e-03 2.71019750e+01] [-1.42372391e-01 9.89812294e-01 -1.31302698e-03 -2.19970763e+00] [-9.05202056e-03 2.44646101e-05 9.99959029e-01 -7.43524260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:27.13, Y:-2.21, Z:-0.74 [[ 9.89763241e-01 1.42434457e-01 9.00842118e-03 2.71338215e+01] [-1.42428313e-01 9.89804236e-01 -1.32329668e-03 -2.20541650e+00] [-9.10505648e-03 2.66961816e-05 9.99958548e-01 -7.44281949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.21, Z:-0.74 [[ 9.89716675e-01 1.42770217e-01 8.80728139e-03 2.71660942e+01] [-1.42764354e-01 9.89755861e-01 -1.29410459e-03 -2.21052899e+00] [-8.90181797e-03 2.34310516e-05 9.99960378e-01 -7.44628780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548623853000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.22, Z:-0.75 [[ 9.89553325e-01 1.43863308e-01 9.35764118e-03 2.71977554e+01] [-1.43856717e-01 9.89597569e-01 -1.37717421e-03 -2.21546794e+00] [-9.45842380e-03 1.66277728e-05 9.99955268e-01 -7.45029833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.22, Z:-0.75 [[ 9.89453818e-01 1.44539207e-01 9.46357388e-03 2.72294051e+01] [-1.44532480e-01 9.89499074e-01 -1.39454463e-03 -2.22091709e+00] [-9.56576397e-03 1.20437010e-05 9.99954247e-01 -7.45382325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.23, Z:-0.75 [[ 9.89383450e-01 1.44998590e-01 9.78760499e-03 2.72612041e+01] [-1.44991397e-01 9.89431862e-01 -1.44425477e-03 -2.22626635e+00] [-9.89358314e-03 9.80324176e-06 9.99951057e-01 -7.46011842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638623853000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.23, Z:-0.75 [[ 9.89312962e-01 1.45469712e-01 9.92094948e-03 2.72938407e+01] [-1.45462331e-01 9.89362705e-01 -1.46544491e-03 -2.23222937e+00] [-1.00285953e-02 6.65920695e-06 9.99949712e-01 -7.46839644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.24, Z:-0.75 [[ 9.89296250e-01 1.45587972e-01 9.85248929e-03 2.73253141e+01] [-1.45580672e-01 9.89345310e-01 -1.45799605e-03 -2.23782984e+00] [-9.95978076e-03 8.05801713e-06 9.99950400e-01 -7.47339263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.24, Z:-0.75 [[ 9.89289471e-01 1.45623826e-01 1.00021490e-02 2.73580470e+01] [-1.45616298e-01 9.89340033e-01 -1.48078089e-03 -2.24316338e+00] [-1.01111634e-02 8.44502970e-06 9.99948881e-01 -7.47886041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728623853000002 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.25, Z:-0.74 [[ 9.89265748e-01 1.45793609e-01 9.87434014e-03 2.73899467e+01] [-1.45786260e-01 9.89315027e-01 -1.46387201e-03 -2.24804115e+00] [-9.98225627e-03 8.61531946e-06 9.99950176e-01 -7.42851783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758623853000003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.25, Z:-0.75 [[ 9.89307269e-01 1.45488662e-01 1.02067467e-02 2.74221036e+01] [-1.45480774e-01 9.89359919e-01 -1.51503601e-03 -2.25285237e+00] [-1.03185666e-02 1.39507231e-05 9.99946762e-01 -7.45661839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.26, Z:-0.75 [[ 9.89364820e-01 1.45075479e-01 1.05051928e-02 2.74532692e+01] [-1.45067075e-01 9.89420591e-01 -1.56162234e-03 -2.25823880e+00] [-1.06206071e-02 2.10566137e-05 9.99943600e-01 -7.49055224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818623853000002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.26, Z:-0.74 [[ 9.89382942e-01 1.44984652e-01 1.00421973e-02 2.74859972e+01] [-1.44976952e-01 9.89433904e-01 -1.49438746e-03 -2.26471778e+00] [-1.01527537e-02 2.26343094e-05 9.99948459e-01 -7.44935449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848623853000003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.27, Z:-0.75 [[ 9.89370525e-01 1.45083713e-01 9.83263558e-03 2.75176713e+01] [-1.45076316e-01 9.89419383e-01 -1.46517186e-03 -2.26951046e+00] [-9.94117280e-03 2.31153009e-05 9.99950585e-01 -7.46131822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.27, Z:-0.75 [[ 9.89377281e-01 1.45031065e-01 9.92902265e-03 2.75507122e+01] [-1.45023503e-01 9.89427102e-01 -1.48127311e-03 -2.27448101e+00] [-1.00388747e-02 2.55963174e-05 9.99949609e-01 -7.50288571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.28, Z:-0.75 [[ 9.89213457e-01 1.46069119e-01 1.09795025e-02 2.75825088e+01] [-1.46059901e-01 9.89274387e-01 -1.64109296e-03 -2.27985792e+00] [-1.11014536e-02 1.97261968e-05 9.99938377e-01 -7.50271459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938623853000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.28, Z:-0.75 [[ 9.89058046e-01 1.47073886e-01 1.15522162e-02 2.76147443e+01] [-1.47063738e-01 9.89125509e-01 -1.72767854e-03 -2.28434118e+00] [-1.16806881e-02 9.86226467e-06 9.99931778e-01 -7.50699699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.29, Z:-0.75 [[ 9.88889439e-01 1.48210862e-01 1.14550017e-02 2.76470321e+01] [-1.48200935e-01 9.88955783e-01 -1.71530586e-03 -2.28839521e+00] [-1.15827171e-02 -1.39411220e-06 9.99932918e-01 -7.51406920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.29, Z:-0.75 [[ 9.88728366e-01 1.49302650e-01 1.11775657e-02 2.76782420e+01] [-1.49293239e-01 9.88791545e-01 -1.67637466e-03 -2.29287871e+00] [-1.13025696e-02 -1.12558119e-05 9.99936124e-01 -7.52134838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028623853000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.71, Y:-2.30, Z:-0.75 [[ 9.88586790e-01 1.50231441e-01 1.12549400e-02 2.77109101e+01] [-1.50221950e-01 9.88650855e-01 -1.68878861e-03 -2.29843728e+00] [-1.13809152e-02 -2.12249299e-05 9.99935235e-01 -7.52857568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.74, Y:-2.30, Z:-0.75 [[ 9.88467258e-01 1.51044760e-01 1.08609787e-02 2.77423463e+01] [-1.51035949e-01 9.88526924e-01 -1.63170277e-03 -2.30436523e+00] [-1.09828300e-02 -2.75134596e-05 9.99939687e-01 -7.54103243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:27.77, Y:-2.31, Z:-0.75 [[ 9.88469753e-01 1.51046781e-01 1.06027187e-02 2.77734364e+01] [-1.51038364e-01 9.88526615e-01 -1.59469524e-03 -2.30981561e+00] [-1.07219432e-02 -2.51092803e-05 9.99942518e-01 -7.54493633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118623853000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.32, Z:-0.75 [[ 9.88531976e-01 1.50556571e-01 1.17154381e-02 2.78050593e+01] [-1.50546227e-01 9.88601395e-01 -1.76488005e-03 -2.31620248e+00] [-1.18476127e-02 -1.90746398e-05 9.99929814e-01 -7.54011432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:27.84, Y:-2.32, Z:-0.75 [[ 9.88479564e-01 1.50845245e-01 1.24041476e-02 2.78373117e+01] [-1.50833659e-01 9.88557389e-01 -1.86968869e-03 -2.32189297e+00] [-1.25442454e-02 -2.28139078e-05 9.99921318e-01 -7.54212010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.87, Y:-2.33, Z:-0.75 [[ 9.88459435e-01 1.50953226e-01 1.26912618e-02 2.78688531e+01] [-1.50941069e-01 9.88540906e-01 -1.91593980e-03 -2.32706592e+00] [-1.28350487e-02 -2.18038406e-05 9.99917627e-01 -7.54182572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208623853000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:27.90, Y:-2.33, Z:-0.75 [[ 9.88273836e-01 1.52122378e-01 1.31760278e-02 2.79013779e+01] [-1.52109360e-01 9.88361665e-01 -1.99039962e-03 -2.33264032e+00] [-1.33254651e-02 -3.71373013e-05 9.99911211e-01 -7.54695825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.34, Z:-0.76 [[ 9.88090581e-01 1.53313702e-01 1.31115113e-02 2.79340790e+01] [-1.53300886e-01 9.88177568e-01 -1.98299893e-03 -2.33888051e+00] [-1.32605222e-02 -5.06237251e-05 9.99912074e-01 -7.55571244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:27.97, Y:-2.34, Z:-0.76 [[ 9.87905435e-01 1.54511402e-01 1.30029911e-02 2.79650900e+01] [-1.54498868e-01 9.87991003e-01 -1.96908943e-03 -2.34447349e+00] [-1.31510850e-02 -6.36732582e-05 9.99913519e-01 -7.56175696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.35, Z:-0.76 [[ 9.87365744e-01 1.57986556e-01 1.22120724e-02 2.79976543e+01] [-1.57975743e-01 9.87441258e-01 -1.85118175e-03 -2.35009009e+00] [-1.23511660e-02 -1.01417762e-04 9.99923716e-01 -7.57249298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.35, Z:-0.76 [[ 9.87036537e-01 1.60056724e-01 1.18625173e-02 2.80289835e+01] [-1.60046639e-01 9.87107811e-01 -1.80082083e-03 -2.35423772e+00] [-1.19978170e-02 -1.21080073e-04 9.99928016e-01 -7.57875278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.36, Z:-0.76 [[ 9.86666220e-01 1.62326851e-01 1.18221600e-02 2.80605266e+01] [-1.62316985e-01 9.86737033e-01 -1.79569185e-03 -2.35828345e+00] [-1.19568521e-02 -1.47188868e-04 9.99928503e-01 -7.59213990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388623853000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.36, Z:-0.76 [[ 9.86095079e-01 1.65810538e-01 1.11067788e-02 2.80931016e+01] [-1.65802034e-01 9.86157611e-01 -1.68856318e-03 -2.36135026e+00] [-1.12330160e-02 -1.76442669e-04 9.99936892e-01 -7.60411813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418623853000003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.37, Z:-0.76 [[ 9.85827442e-01 1.67408051e-01 1.08995253e-02 2.81249661e+01] [-1.67399936e-01 9.85887676e-01 -1.65909023e-03 -2.36618172e+00] [-1.10234527e-02 -1.89003150e-04 9.99939222e-01 -7.61503364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:28.16, Y:-2.37, Z:-0.76 [[ 9.85625557e-01 1.68622916e-01 1.04198599e-02 2.81577608e+01] [-1.68615551e-01 9.85680615e-01 -1.58762047e-03 -2.37084384e+00] [-1.05383631e-02 -1.92151112e-04 9.99944451e-01 -7.62133924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478623853000002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:28.19, Y:-2.38, Z:-0.76 [[ 9.85441259e-01 1.69715650e-01 1.01056294e-02 2.81891895e+01] [-1.69708761e-01 9.85493054e-01 -1.54168013e-03 -2.37523826e+00] [-1.02206749e-02 -1.95778638e-04 9.99947748e-01 -7.62378766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508623853000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.22, Y:-2.38, Z:-0.76 [[ 9.85118249e-01 1.71562194e-01 1.04139172e-02 2.82205256e+01] [-1.71554962e-01 9.85173267e-01 -1.59055917e-03 -2.37789292e+00] [-1.05323927e-02 -2.19670303e-04 9.99944509e-01 -7.62579506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.38, Z:-0.76 [[ 9.85001601e-01 1.72222614e-01 1.05459546e-02 2.82522243e+01] [-1.72215207e-01 9.85058029e-01 -1.61336951e-03 -2.38081295e+00] [-1.06662360e-02 -2.27002201e-04 9.99943088e-01 -7.62953060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568623853000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.38, Z:-0.76 [[ 9.84968426e-01 1.72369086e-01 1.12293543e-02 2.82833108e+01] [-1.72360694e-01 9.85032405e-01 -1.71819954e-03 -2.38408429e+00] [-1.13574423e-02 -2.43126999e-04 9.99935473e-01 -7.63380077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598623853000003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.39, Z:-0.76 [[ 9.85043893e-01 1.71898534e-01 1.18077033e-02 2.83167197e+01] [-1.71889233e-01 9.85114628e-01 -1.80574778e-03 -2.38584260e+00] [-1.19423466e-02 -2.50876235e-04 9.99928656e-01 -7.63803310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.39, Z:-0.76 [[ 9.85102361e-01 1.71563239e-01 1.18065139e-02 2.83483823e+01] [-1.71553887e-01 9.85173079e-01 -1.80791527e-03 -2.38947857e+00] [-1.19416315e-02 -2.44471760e-04 9.99928666e-01 -7.64443544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.39, Z:-0.77 [[ 9.85195107e-01 1.71033988e-01 1.17463268e-02 2.83813142e+01] [-1.71024670e-01 9.85265101e-01 -1.80063614e-03 -2.39314183e+00] [-1.18812158e-02 -2.34933749e-04 9.99929388e-01 -7.65087334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688623853000003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.41, Y:-2.40, Z:-0.77 [[ 9.85308641e-01 1.70405267e-01 1.13546282e-02 2.84134437e+01] [-1.70396487e-01 9.85374040e-01 -1.74331452e-03 -2.39658504e+00] [-1.14856258e-02 -2.17085890e-04 9.99934014e-01 -7.65605986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.40, Z:-0.77 [[ 9.85605955e-01 1.68672071e-01 1.14294975e-02 2.84456953e+01] [-1.68663047e-01 9.85672204e-01 -1.75582650e-03 -2.39731324e+00] [-1.15618969e-02 -1.97180832e-04 9.99933140e-01 -7.66013263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.40, Z:-0.77 [[ 9.85702759e-01 1.68066939e-01 1.19822850e-02 2.84768933e+01] [-1.68056946e-01 9.85775565e-01 -1.84325354e-03 -2.39999330e+00] [-1.21216337e-02 -1.96806119e-04 9.99926511e-01 -7.66931232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778623853000003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.40, Z:-0.77 [[ 9.85846593e-01 1.67182421e-01 1.25113083e-02 2.85077032e+01] [-1.67171418e-01 9.85925961e-01 -1.92759191e-03 -2.40240925e+00] [-1.26574831e-02 -1.91223228e-04 9.99919873e-01 -7.67211879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.40, Z:-0.77 [[ 9.86142127e-01 1.65350857e-01 1.35203480e-02 2.85388816e+01] [-1.65337834e-01 9.86234790e-01 -2.08315262e-03 -2.40265549e+00] [-1.36786887e-02 -1.81140501e-04 9.99906426e-01 -7.67060147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.40, Z:-0.77 [[ 9.86281533e-01 1.64493416e-01 1.38077236e-02 2.85690938e+01] [-1.64479744e-01 9.86378166e-01 -2.12780248e-03 -2.40498610e+00] [-1.39696466e-02 -1.72478548e-04 9.99902405e-01 -7.67698024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.60, Y:-2.41, Z:-0.77 [[ 9.86365184e-01 1.63992255e-01 1.37936315e-02 2.86012650e+01] [-1.63978572e-01 9.86461612e-01 -2.12494558e-03 -2.40811264e+00] [-1.39553626e-02 -1.65887652e-04 9.99902605e-01 -7.68039855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.63, Y:-2.41, Z:-0.77 [[ 9.86411066e-01 1.63726307e-01 1.36713196e-02 2.86318465e+01] [-1.63712806e-01 9.86505789e-01 -2.10845931e-03 -2.41125873e+00] [-1.38320462e-02 -1.58362502e-04 9.99904320e-01 -7.68749538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.66, Y:-2.41, Z:-0.77 [[ 9.86592176e-01 1.62608647e-01 1.39393607e-02 2.86638868e+01] [-1.62594459e-01 9.86690634e-01 -2.15273182e-03 -2.41078261e+00] [-1.41038894e-02 -1.42594437e-04 9.99900525e-01 -7.69248248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:28.69, Y:-2.41, Z:-0.77 [[ 9.86715051e-01 1.61902799e-01 1.34496237e-02 2.86943543e+01] [-1.61889523e-01 9.86806702e-01 -2.07722867e-03 -2.41253688e+00] [-1.36084879e-02 -1.27720372e-04 9.99907392e-01 -7.70629559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.41, Z:-0.77 [[ 9.86911013e-01 1.60771165e-01 1.26207907e-02 2.87256228e+01] [-1.60759372e-01 9.86991703e-01 -1.95007096e-03 -2.41497956e+00] [-1.27701309e-02 -1.04363881e-04 9.99918453e-01 -7.71415377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.42, Z:-0.77 [[ 9.87449316e-01 1.57485021e-01 1.19296544e-02 2.87574272e+01] [-1.57474241e-01 9.87521374e-01 -1.84354559e-03 -2.41648129e+00] [-1.20711195e-02 -5.82054408e-05 9.99927140e-01 -7.72237579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048623853000002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.42, Z:-0.77 [[ 9.87734579e-01 1.55674491e-01 1.20769801e-02 2.87878031e+01] [-1.55663303e-01 9.87808408e-01 -1.86670599e-03 -2.41958485e+00] [-1.22203409e-02 -3.61325472e-05 9.99925328e-01 -7.72523188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.42, Z:-0.77 [[ 9.88051827e-01 1.53624564e-01 1.23725692e-02 2.88193930e+01] [-1.53612660e-01 9.88129290e-01 -1.91247321e-03 -2.42272805e+00] [-1.25195009e-02 -1.09606169e-05 9.99921628e-01 -7.72945645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.43, Z:-0.77 [[ 9.88378987e-01 1.51491628e-01 1.25404909e-02 2.88491214e+01] [-1.51479222e-01 9.88458540e-01 -1.93882281e-03 -2.42598134e+00] [-1.26894707e-02 1.66679228e-05 9.99919485e-01 -7.73292773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.88, Y:-2.43, Z:-0.77 [[ 9.89087577e-01 1.46786360e-01 1.26304812e-02 2.88797737e+01] [-1.46773388e-01 9.89168215e-01 -1.95296982e-03 -2.42813489e+00] [-1.27803399e-02 7.78396707e-05 9.99918325e-01 -7.73557167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168623853000003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.43, Z:-0.77 [[ 9.89419285e-01 1.44567053e-01 1.22411748e-02 2.89104745e+01] [-1.44554700e-01 9.89495001e-01 -1.89261107e-03 -2.43141425e+00] [-1.23861905e-02 1.03066535e-04 9.99923283e-01 -7.74339051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.94, Y:-2.43, Z:-0.78 [[ 9.89973594e-01 1.40764583e-01 1.17309225e-02 2.89416812e+01] [-1.40752969e-01 9.90043086e-01 -1.81398105e-03 -2.43399283e+00] [-1.18694630e-02 1.44631163e-04 9.99929545e-01 -7.75594287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228623853000002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.44, Z:-0.78 [[ 9.90129083e-01 1.39700143e-01 1.13255921e-02 2.89739199e+01] [-1.39689258e-01 9.90193843e-01 -1.75038780e-03 -2.43834811e+00] [-1.14590610e-02 1.51046302e-04 9.99934331e-01 -7.76310141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258623853000003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.44, Z:-0.78 [[ 9.90248866e-01 1.38887256e-01 1.08403541e-02 2.90049016e+01] [-1.38877215e-01 9.90308187e-01 -1.67725588e-03 -2.44273979e+00] [-1.09682409e-02 1.55422548e-04 9.99939835e-01 -7.77115605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.45, Z:-0.78 [[ 9.90247221e-01 1.38899017e-01 1.08399005e-02 2.90355300e+01] [-1.38888945e-01 9.90306537e-01 -1.68018206e-03 -2.44749118e+00] [-1.09682000e-02 1.58253282e-04 9.99939835e-01 -7.77713860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318623853000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.45, Z:-0.78 [[ 9.90407722e-01 1.37830905e-01 9.75635323e-03 2.90651125e+01] [-1.37822693e-01 9.90455763e-01 -1.51232808e-03 -2.45200134e+00] [-9.87168183e-03 1.53174530e-04 9.99951262e-01 -7.78481070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.46, Z:-0.78 [[ 9.90438635e-01 1.37636538e-01 9.35378378e-03 2.90955490e+01] [-1.37628979e-01 9.90482792e-01 -1.45014617e-03 -2.45675048e+00] [-9.46435497e-03 1.48929080e-04 9.99955201e-01 -7.79101675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.46, Z:-0.78 [[ 9.90449349e-01 1.37585769e-01 8.95784011e-03 2.91253112e+01] [-1.37578834e-01 9.90489846e-01 -1.38876179e-03 -2.46112355e+00] [-9.06372353e-03 1.43089016e-04 9.99958913e-01 -7.79818083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.47, Z:-0.78 [[ 9.90448952e-01 1.37566062e-01 9.29797801e-03 2.91547975e+01] [-1.37558591e-01 9.90492583e-01 -1.44138358e-03 -2.46556346e+00] [-9.40786372e-03 1.48600099e-04 9.99955734e-01 -7.80319590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438623853000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.47, Z:-0.78 [[ 9.90399870e-01 1.37870370e-01 9.99292916e-03 2.91848793e+01] [-1.37861754e-01 9.90450270e-01 -1.54934826e-03 -2.47024327e+00] [-1.01111086e-02 1.56831580e-04 9.99948869e-01 -7.80634698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.48, Z:-0.78 [[ 9.90325595e-01 1.38358574e-01 1.05887338e-02 2.92152318e+01] [-1.38348929e-01 9.90382188e-01 -1.64151004e-03 -2.47587937e+00] [-1.07140104e-02 1.60689424e-04 9.99942590e-01 -7.80986006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.48, Z:-0.78 [[ 9.90187015e-01 1.39242488e-01 1.18829374e-02 2.92446737e+01] [-1.39230400e-01 9.90258300e-01 -1.84259344e-03 -2.48209665e+00] [-1.20237447e-02 1.70045968e-04 9.99927698e-01 -7.75947054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528623853000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.49, Z:-0.78 [[ 9.90125297e-01 1.39640324e-01 1.23481568e-02 2.92752960e+01] [-1.39627301e-01 9.90202278e-01 -1.91481823e-03 -2.48692957e+00] [-1.24945588e-02 1.71770161e-04 9.99921925e-01 -7.81147484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.49, Z:-0.78 [[ 9.90027490e-01 1.40346724e-01 1.21805878e-02 2.93061874e+01] [-1.40334107e-01 9.90102404e-01 -1.88863806e-03 -2.49221934e+00] [-1.23250935e-02 1.60451671e-04 9.99924030e-01 -7.78908761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:29.34, Y:-2.50, Z:-0.78 [[ 9.89933347e-01 1.41031789e-01 1.19164871e-02 2.93379869e+01] [-1.41019756e-01 9.90005057e-01 -1.84821915e-03 -2.49778317e+00] [-1.20580401e-02 1.49153659e-04 9.99927288e-01 -7.82394301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.37, Y:-2.50, Z:-0.78 [[ 9.89668599e-01 1.42863600e-01 1.20853960e-02 2.93695401e+01] [-1.42851335e-01 9.89742378e-01 -1.87653917e-03 -2.50451814e+00] [-1.22295178e-02 1.30736933e-04 9.99925208e-01 -7.82889235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.40, Y:-2.51, Z:-0.78 [[ 9.89481918e-01 1.44186869e-01 1.16482148e-02 2.93997567e+01] [-1.44175543e-01 9.89550471e-01 -1.81067656e-03 -2.51034536e+00] [-1.17875722e-02 1.12244018e-04 9.99930518e-01 -7.83351062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:29.43, Y:-2.52, Z:-0.78 [[ 9.89264710e-01 1.45692243e-01 1.13623450e-02 2.94300601e+01] [-1.45681537e-01 9.89329956e-01 -1.76880279e-03 -2.51589759e+00] [-1.14988091e-02 9.45302984e-05 9.99933882e-01 -7.83853390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708623853000002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.52, Z:-0.78 [[ 9.88707897e-01 1.49441923e-01 1.11267920e-02 2.94596893e+01] [-1.49431881e-01 9.88770504e-01 -1.73319687e-03 -2.52179766e+00] [-1.12608560e-02 5.09279827e-05 9.99936593e-01 -7.84549940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.53, Z:-0.79 [[ 9.88420657e-01 1.51319466e-01 1.12704631e-02 2.94898588e+01] [-1.51309285e-01 9.88484910e-01 -1.75557622e-03 -2.52641567e+00] [-1.14063355e-02 2.99220861e-05 9.99934945e-01 -7.85113803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.53, Z:-0.79 [[ 9.88159751e-01 1.52981813e-01 1.16992365e-02 2.95199481e+01] [-1.52970959e-01 9.88229004e-01 -1.82236534e-03 -2.53097804e+00] [-1.18403135e-02 1.11446574e-05 9.99929901e-01 -7.85383754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798623853000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.54, Z:-0.79 [[ 9.87605766e-01 1.56539585e-01 1.14109349e-02 2.95487350e+01] [-1.56529497e-01 9.87671685e-01 -1.77736640e-03 -2.53648362e+00] [-1.15484855e-02 -3.08105925e-05 9.99933314e-01 -7.86281917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828623853000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.54, Z:-0.79 [[ 9.87385534e-01 1.57936962e-01 1.12126201e-02 2.95785352e+01] [-1.57927310e-01 9.87449196e-01 -1.74669918e-03 -2.54153371e+00] [-1.13477610e-02 -4.61134262e-05 9.99935611e-01 -7.87253596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.55, Z:-0.79 [[ 9.87172365e-01 1.59295424e-01 1.07558803e-02 2.96090170e+01] [-1.59286622e-01 9.87230958e-01 -1.67554836e-03 -2.54666262e+00] [-1.08854452e-02 -5.92127976e-05 9.99940750e-01 -7.87805238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.55, Z:-0.79 [[ 9.86865455e-01 1.61155660e-01 1.11994221e-02 2.96393312e+01] [-1.61146237e-01 9.86928998e-01 -1.74464319e-03 -2.55111381e+00] [-1.13341935e-02 -8.30166260e-05 9.99935763e-01 -7.88304669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918623853000003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.56, Z:-0.79 [[ 9.86738484e-01 1.61942521e-01 1.10355539e-02 2.96685240e+01] [-1.61933421e-01 9.86800188e-01 -1.71921534e-03 -2.55553072e+00] [-1.11683007e-02 -9.06090533e-05 9.99937628e-01 -7.88980160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.56, Z:-0.79 [[ 9.86663024e-01 1.62393174e-01 1.11594701e-02 2.96974211e+01] [-1.62383898e-01 9.86726126e-01 -1.73847107e-03 -2.56010849e+00] [-1.12936565e-02 -9.68331217e-05 9.99936220e-01 -7.90108884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978623853000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.56, Z:-0.79 [[ 9.86545543e-01 1.63117683e-01 1.09778080e-02 2.97277586e+01] [-1.63108755e-01 9.86606614e-01 -1.70972049e-03 -2.56483839e+00] [-1.11096637e-02 -1.03859474e-04 9.99938280e-01 -7.90986048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.57, Z:-0.79 [[ 9.86507362e-01 1.63345338e-01 1.10238311e-02 2.97568371e+01] [-1.63336349e-01 9.86568948e-01 -1.71698703e-03 -2.56925116e+00] [-1.11562313e-02 -1.06771977e-04 9.99937762e-01 -7.91588777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:29.79, Y:-2.57, Z:-0.79 [[ 9.86488591e-01 1.63441740e-01 1.12720138e-02 2.97865314e+01] [-1.63432348e-01 9.86552982e-01 -1.75559346e-03 -2.57325794e+00] [-1.14073761e-02 -1.10338767e-04 9.99934928e-01 -7.92009062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.82, Y:-2.58, Z:-0.79 [[ 9.86497490e-01 1.63378983e-01 1.14021830e-02 2.98156376e+01] [-1.63369376e-01 9.86563376e-01 -1.77530204e-03 -2.57672149e+00] [-1.15390232e-02 -1.11436515e-04 9.99933417e-01 -7.92393033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.58, Z:-0.79 [[ 9.86592762e-01 1.62817967e-01 1.11817523e-02 2.98449542e+01] [-1.62808688e-01 9.86656120e-01 -1.74130306e-03 -2.57973550e+00] [-1.13160598e-02 -1.02529434e-04 9.99935966e-01 -7.92515867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.87, Y:-2.58, Z:-0.79 [[ 9.86682711e-01 1.62254342e-01 1.14349119e-02 2.98740960e+01] [-1.62244600e-01 9.86748964e-01 -1.78068024e-03 -2.58359568e+00] [-1.15723106e-02 -9.82862985e-05 9.99933034e-01 -7.93202663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.158623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.59, Z:-0.79 [[ 9.86798619e-01 1.61532979e-01 1.16439379e-02 2.99029330e+01] [-1.61522833e-01 9.86867310e-01 -1.81283980e-03 -2.58761346e+00] [-1.17838551e-02 -9.18540272e-05 9.99930564e-01 -7.92887895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.59, Z:-0.79 [[ 9.87107080e-01 1.59555326e-01 1.27165753e-02 2.99325227e+01] [-1.59543062e-01 9.87188985e-01 -1.97965954e-03 -2.59077468e+00] [-1.28695283e-02 -7.47054168e-05 9.99917181e-01 -7.93291740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.59, Z:-0.79 [[ 9.87256865e-01 1.58575551e-01 1.33295758e-02 2.99626161e+01] [-1.58561989e-01 9.87346844e-01 -2.07484578e-03 -2.59470875e+00] [-1.34899344e-02 -6.51583098e-05 9.99909005e-01 -7.93717370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.60, Z:-0.79 [[ 9.87429070e-01 1.57449037e-01 1.39151887e-02 2.99935913e+01] [-1.57434148e-01 9.87527113e-01 -2.16587177e-03 -2.59843597e+00] [-1.40826405e-02 -5.20811329e-05 9.99900833e-01 -7.93681764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.60, Z:-0.79 [[ 9.87577927e-01 1.56458526e-01 1.45109244e-02 3.00237954e+01] [-1.56442221e-01 9.87684529e-01 -2.25903790e-03 -2.60231393e+00] [-1.46856613e-02 -3.91452769e-05 9.99892159e-01 -7.94424050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.61, Z:-0.80 [[ 9.87862526e-01 1.54627902e-01 1.47594871e-02 3.00544172e+01] [-1.54610826e-01 9.87972779e-01 -2.29797543e-03 -2.60608557e+00] [-1.49373026e-02 -1.18926753e-05 9.99888432e-01 -7.95258835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.61, Z:-0.80 [[ 9.88023296e-01 1.53645488e-01 1.42488675e-02 3.00853726e+01] [-1.53629473e-01 9.88126036e-01 -2.21835639e-03 -2.61037612e+00] [-1.44205174e-02 2.74178360e-06 9.99896019e-01 -7.95695648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.61, Z:-0.80 [[ 9.88177919e-01 1.52665019e-01 1.40638311e-02 3.01161991e+01] [-1.52649313e-01 9.88277993e-01 -2.18988663e-03 -2.61405319e+00] [-1.42332938e-02 1.71634558e-05 9.99898701e-01 -7.96737563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.62, Z:-0.80 [[ 9.88475833e-01 1.50751128e-01 1.37704301e-02 3.01469763e+01] [-1.50735879e-01 9.88571745e-01 -2.14459885e-03 -2.61666265e+00] [-1.39363589e-02 4.41862415e-05 9.99902883e-01 -7.97722409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.18, Y:-2.62, Z:-0.80 [[ 9.88629025e-01 1.49735531e-01 1.38535853e-02 3.01773831e+01] [-1.49719995e-01 9.88726083e-01 -2.15778574e-03 -2.62067321e+00] [-1.40204984e-02 5.90908894e-05 9.99901706e-01 -7.98394661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.62, Z:-0.80 [[ 9.88737220e-01 1.49014827e-01 1.39029039e-02 3.02078304e+01] [-1.48999109e-01 9.88834959e-01 -2.16540503e-03 -2.62488611e+00] [-1.40703549e-02 6.94962477e-05 9.99901005e-01 -7.98979397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.63, Z:-0.80 [[ 9.89114980e-01 1.46555355e-01 1.31561612e-02 3.02381783e+01] [-1.46541060e-01 9.89202466e-01 -2.04931646e-03 -2.62800522e+00] [-1.33144454e-02 9.90918010e-05 9.99911354e-01 -8.00626325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.63, Z:-0.80 [[ 9.89312168e-01 1.45254307e-01 1.27522903e-02 3.02679407e+01] [-1.45240768e-01 9.89394347e-01 -1.98640606e-03 -2.63255637e+00] [-1.29055779e-02 1.13023260e-04 9.99916713e-01 -8.01807310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.64, Z:-0.80 [[ 9.89503126e-01 1.43983155e-01 1.23456479e-02 3.02966242e+01] [-1.43970366e-01 9.89580131e-01 -1.92314420e-03 -2.63705966e+00] [-1.24939082e-02 1.25549755e-04 9.99921940e-01 -8.02546823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.64, Z:-0.80 [[ 9.89837463e-01 1.41700639e-01 1.19467797e-02 3.03260322e+01] [-1.41688498e-01 9.89909545e-01 -1.86087423e-03 -2.64022052e+00] [-1.20899183e-02 1.49241753e-04 9.99926903e-01 -8.04140101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.36, Y:-2.64, Z:-0.80 [[ 9.89981551e-01 1.40679675e-01 1.20730138e-02 3.03552494e+01] [-1.40667202e-01 9.90055151e-01 -1.88039161e-03 -2.64451165e+00] [-1.22174824e-02 1.63275937e-04 9.99925350e-01 -8.04326016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.65, Z:-0.80 [[ 9.90136193e-01 1.39545013e-01 1.25502323e-02 3.03856048e+01] [-1.39531447e-01 9.90215712e-01 -1.95448588e-03 -2.64891785e+00] [-1.27001759e-02 1.84055142e-04 9.99919333e-01 -8.04818883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.65, Z:-0.80 [[ 9.90371403e-01 1.37802700e-01 1.32249488e-02 3.04160574e+01] [-1.37787481e-01 9.90459675e-01 -2.05948960e-03 -2.65369084e+00] [-1.33825817e-02 2.17427225e-04 9.99910426e-01 -8.04997036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.66, Z:-0.81 [[ 9.90454285e-01 1.37167986e-01 1.36107584e-02 3.04459069e+01] [-1.37151807e-01 9.90547773e-01 -2.11951962e-03 -2.65821526e+00] [-1.37728366e-02 2.32547191e-04 9.99905123e-01 -8.05475828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.66, Z:-0.81 [[ 9.90528078e-01 1.36648549e-01 1.34648099e-02 3.04769489e+01] [-1.36632655e-01 9.90619562e-01 -2.09767217e-03 -2.66307850e+00] [-1.36251479e-02 2.38070460e-04 9.99907145e-01 -8.05970487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.67, Z:-0.80 [[ 9.90624036e-01 1.35938567e-01 1.35913562e-02 3.05063813e+01] [-1.35922304e-01 9.90717237e-01 -2.11754137e-03 -2.66846385e+00] [-1.37530464e-02 2.50318934e-04 9.99905391e-01 -8.03491202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.67, Z:-0.81 [[ 9.90664040e-01 1.35602388e-01 1.40268428e-02 3.05374973e+01] [-1.35585018e-01 9.90763303e-01 -2.18635748e-03 -2.67297175e+00] [-1.41937564e-02 2.64116000e-04 9.99899229e-01 -8.07772128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.68, Z:-0.81 [[ 9.90683978e-01 1.35428318e-01 1.42977969e-02 3.05696258e+01] [-1.35410258e-01 9.90787110e-01 -2.22823081e-03 -2.67831524e+00] [-1.44678385e-02 2.71404194e-04 9.99895299e-01 -8.08537288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.60, Y:-2.68, Z:-0.81 [[ 9.90652446e-01 1.35647878e-01 1.44008630e-02 3.06015344e+01] [-1.35629544e-01 9.90757074e-01 -2.24675340e-03 -2.68424560e+00] [-1.45725242e-02 2.72569274e-04 9.99893778e-01 -8.09439911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.63, Y:-2.69, Z:-0.81 [[ 9.90677743e-01 1.35442477e-01 1.45926431e-02 3.06323358e+01] [-1.35423591e-01 9.90785172e-01 -2.27923081e-03 -2.69054000e+00] [-1.47668790e-02 2.81795109e-04 9.99890924e-01 -8.10468430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.66, Y:-2.70, Z:-0.81 [[ 9.90707700e-01 1.35268019e-01 1.41709932e-02 3.06644696e+01] [-1.35250161e-01 9.90809006e-01 -2.21544210e-03 -2.69616675e+00] [-1.43404261e-02 2.78226440e-04 9.99897132e-01 -8.11171423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.938623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.70, Z:-0.81 [[ 9.90718228e-01 1.35259157e-01 1.35038281e-02 3.06951387e+01] [-1.35242911e-01 9.90810218e-01 -2.11330179e-03 -2.70211770e+00] [-1.36655743e-02 2.67389586e-04 9.99906586e-01 -8.12264119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.72, Y:-2.71, Z:-0.81 [[ 9.90830341e-01 1.34547527e-01 1.23368510e-02 3.07248972e+01] [-1.34533880e-01 9.90907108e-01 -1.93327046e-03 -2.70938218e+00] [-1.24847901e-02 2.55818589e-04 9.99922029e-01 -8.13604242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.72, Z:-0.81 [[ 9.90870023e-01 1.34294104e-01 1.19034293e-02 3.07554719e+01] [-1.34281381e-01 9.90941487e-01 -1.86538629e-03 -2.71541726e+00] [-1.20461123e-02 2.49946439e-04 9.99927412e-01 -8.14394567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.72, Z:-0.82 [[ 9.90788017e-01 1.34886393e-01 1.20319008e-02 3.07864743e+01] [-1.34873447e-01 9.90861040e-01 -1.88475586e-03 -2.72315478e+00] [-1.21761696e-02 2.44609595e-04 9.99925838e-01 -8.15103776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.73, Z:-0.81 [[ 9.90704566e-01 1.35495635e-01 1.20580070e-02 3.08170889e+01] [-1.35482639e-01 9.90777914e-01 -1.89198641e-03 -2.72876474e+00] [-1.22031629e-02 2.40748963e-04 9.99925510e-01 -8.09388110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.73, Z:-0.82 [[ 9.90561753e-01 1.36452820e-01 1.29630997e-02 3.08474942e+01] [-1.36437888e-01 9.90646540e-01 -2.03353308e-03 -2.73437893e+00] [-1.31193312e-02 2.45682148e-04 9.99913908e-01 -8.15854631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.74, Z:-0.82 [[ 9.90397807e-01 1.37588961e-01 1.34707725e-02 3.08788165e+01] [-1.37572911e-01 9.90489384e-01 -2.11537643e-03 -2.74012290e+00] [-1.36337096e-02 2.41850796e-04 9.99907027e-01 -8.15978411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:30.91, Y:-2.75, Z:-0.82 [[ 9.90053301e-01 1.39989185e-01 1.40530937e-02 3.09101162e+01] [-1.39971923e-01 9.90153008e-01 -2.20935004e-03 -2.74784410e+00] [-1.42239981e-02 2.20335754e-04 9.99898810e-01 -8.16245593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.75, Z:-0.82 [[ 9.89905180e-01 1.41007838e-01 1.43011681e-02 3.09412515e+01] [-1.40990027e-01 9.90008457e-01 -2.25118040e-03 -2.75424844e+00] [-1.44757115e-02 2.12133070e-04 9.99895199e-01 -8.17371821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.76, Z:-0.82 [[ 9.89900403e-01 1.41041416e-01 1.43007183e-02 3.09726844e+01] [-1.41023567e-01 9.90003673e-01 -2.25403420e-03 -2.75925406e+00] [-1.44756758e-02 2.14531064e-04 9.99895199e-01 -8.17986194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.77, Z:-0.82 [[ 9.89678331e-01 1.42620669e-01 1.40051988e-02 3.10049286e+01] [-1.42603713e-01 9.89777404e-01 -2.20708741e-03 -2.76732250e+00] [-1.41768056e-02 1.87113236e-04 9.99899487e-01 -8.18848772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.77, Z:-0.82 [[ 9.89599444e-01 1.43173797e-01 1.39356949e-02 3.10362160e+01] [-1.43157023e-01 9.89697545e-01 -2.19898490e-03 -2.77396509e+00] [-1.41069600e-02 1.81121645e-04 9.99900475e-01 -8.20309095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.07, Y:-2.78, Z:-0.82 [[ 9.89533498e-01 1.43641532e-01 1.38045579e-02 3.10678974e+01] [-1.43625078e-01 9.89629769e-01 -2.18120041e-03 -2.78143754e+00] [-1.39747124e-02 1.75690167e-04 9.99902334e-01 -8.20966835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.79, Z:-0.82 [[ 9.89396692e-01 1.44645956e-01 1.31047005e-02 3.10994388e+01] [-1.44631202e-01 9.89483463e-01 -2.07164926e-03 -2.79067528e+00] [-1.32665401e-02 1.54334338e-04 9.99911984e-01 -8.21259937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.80, Z:-0.82 [[ 9.89278458e-01 1.45491957e-01 1.26579395e-02 3.11312733e+01] [-1.45478231e-01 9.89359424e-01 -2.00343691e-03 -2.79732709e+00] [-1.28147357e-02 1.40502335e-04 9.99917878e-01 -8.22192037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.80, Z:-0.82 [[ 9.89134544e-01 1.46487587e-01 1.24193655e-02 3.11633273e+01] [-1.46474423e-01 9.89212500e-01 -1.96791984e-03 -2.80358801e+00] [-1.25736675e-02 1.27418091e-04 9.99920940e-01 -8.23195916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.81, Z:-0.82 [[ 9.88742873e-01 1.49121239e-01 1.22632765e-02 3.11939524e+01] [-1.49108582e-01 9.88818915e-01 -1.94517608e-03 -2.81157371e+00] [-1.24162269e-02 9.47192151e-05 9.99922911e-01 -8.24036677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.82, Z:-0.82 [[ 9.88459747e-01 1.50981128e-01 1.23299359e-02 3.12244635e+01] [-1.50968446e-01 9.88536642e-01 -1.95824366e-03 -2.81770814e+00] [-1.24842513e-02 7.42137654e-05 9.99922066e-01 -8.24250663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.478623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.82, Z:-0.82 [[ 9.88227931e-01 1.52465462e-01 1.26427407e-02 3.12566791e+01] [-1.52452226e-01 9.88308798e-01 -2.00984497e-03 -2.82378093e+00] [-1.28013638e-02 5.87709809e-05 9.99918057e-01 -8.19329503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.83, Z:-0.82 [[ 9.87682676e-01 1.55824798e-01 1.41972985e-02 3.12885714e+01] [-1.55808412e-01 9.87784709e-01 -2.25981646e-03 -2.82871748e+00] [-1.43760098e-02 1.99230356e-05 9.99896660e-01 -8.24892009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.538623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.83, Z:-0.83 [[ 9.87428679e-01 1.57375461e-01 1.47502234e-02 3.13200112e+01] [-1.57357908e-01 9.87538842e-01 -2.35041693e-03 -2.83436028e+00] [-1.49363165e-02 -1.95206397e-07 9.99888447e-01 -8.25963586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.84, Z:-0.83 [[ 9.87187984e-01 1.58867162e-01 1.48697651e-02 3.13516443e+01] [-1.58849450e-01 9.87299967e-01 -2.37225696e-03 -2.84074193e+00] [-1.50577923e-02 -2.01904417e-05 9.99886625e-01 -8.26841665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.85, Z:-0.83 [[ 9.86910907e-01 1.60592623e-01 1.47265123e-02 3.13836251e+01] [-1.60575407e-01 9.87020774e-01 -2.35184155e-03 -2.84669997e+00] [-1.49130619e-02 -4.36576232e-05 9.99888793e-01 -8.27632629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.85, Z:-0.83 [[ 9.86282774e-01 1.64402695e-01 1.47663211e-02 3.14140839e+01] [-1.64385766e-01 9.86393301e-01 -2.36134570e-03 -2.85099786e+00] [-1.49536118e-02 -9.84184144e-05 9.99888184e-01 -8.27701501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.86, Z:-0.83 [[ 9.85902961e-01 1.66681849e-01 1.45777904e-02 3.14449165e+01] [-1.66665605e-01 9.86010722e-01 -2.33073646e-03 -2.85576628e+00] [-1.47623491e-02 -1.31736270e-04 9.99891022e-01 -8.27988978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.86, Z:-0.83 [[ 9.85561581e-01 1.68669157e-01 1.48015702e-02 3.14759283e+01] [-1.68652591e-01 9.85672709e-01 -2.36936759e-03 -2.86049101e+00] [-1.49891430e-02 -1.61165491e-04 9.99887643e-01 -8.28558334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.86, Z:-0.83 [[ 9.85225818e-01 1.70638176e-01 1.45842263e-02 3.15065702e+01] [-1.70622303e-01 9.85333739e-01 -2.33501644e-03 -2.86485463e+00] [-1.47687732e-02 -1.87875792e-04 9.99890918e-01 -8.28959903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.87, Z:-0.83 [[ 9.84744971e-01 1.73383924e-01 1.46750452e-02 3.15380814e+01] [-1.73368158e-01 9.84854285e-01 -2.34945060e-03 -2.86742340e+00] [-1.48601382e-02 -2.30575896e-04 9.99889555e-01 -8.29408278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.87, Z:-0.83 [[ 9.84609991e-01 1.74092889e-01 1.53242017e-02 3.15686419e+01] [-1.74075777e-01 9.84729203e-01 -2.45381844e-03 -2.87100522e+00] [-1.55173813e-02 -2.51518171e-04 9.99879567e-01 -8.30263818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.60, Y:-2.87, Z:-0.83 [[ 9.84693022e-01 1.73460622e-01 1.70606460e-02 3.15996795e+01] [-1.73439314e-01 9.84840769e-01 -2.73207666e-03 -2.87401952e+00] [-1.72759274e-02 -2.68729913e-04 9.99850724e-01 -8.30591265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.63, Y:-2.88, Z:-0.83 [[ 9.84832528e-01 1.72585388e-01 1.78655107e-02 3.16306753e+01] [-1.72561872e-01 9.84994525e-01 -2.86127044e-03 -2.87848005e+00] [-1.80912437e-02 -2.65033772e-04 9.99836305e-01 -8.31295674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.66, Y:-2.88, Z:-0.83 [[ 9.85030601e-01 1.71425168e-01 1.81142872e-02 3.16629326e+01] [-1.71400742e-01 9.85197113e-01 -2.90404536e-03 -2.88309598e+00] [-1.83439699e-02 -2.44228715e-04 9.99831705e-01 -8.31925978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.69, Y:-2.89, Z:-0.83 [[ 9.85603670e-01 1.68145610e-01 1.76765146e-02 3.16949082e+01] [-1.68121772e-01 9.85762153e-01 -2.83674157e-03 -2.88751187e+00] [-1.79018247e-02 -1.75904042e-04 9.99839734e-01 -8.32516060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.89, Z:-0.83 [[ 9.85895433e-01 1.66496778e-01 1.70005346e-02 3.17268291e+01] [-1.66474435e-01 9.86041989e-01 -2.73102274e-03 -2.89202704e+00] [-1.72179475e-02 -1.37651557e-04 9.99851751e-01 -8.33651337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.90, Z:-0.83 [[ 9.86173200e-01 1.64892697e-01 1.65172187e-02 3.17576417e+01] [-1.64871335e-01 9.86311506e-01 -2.65612975e-03 -2.89641310e+00] [-1.67290993e-02 -1.03811931e-04 9.99860053e-01 -8.34362740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.79, Y:-2.90, Z:-0.84 [[ 9.86842651e-01 1.60907812e-01 1.58195579e-02 3.17889558e+01] [-1.60887667e-01 9.86969440e-01 -2.54630566e-03 -2.89946515e+00] [-1.60231407e-02 -3.23687500e-05 9.99871621e-01 -8.35647805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.82, Y:-2.90, Z:-0.84 [[ 9.87194920e-01 1.58750982e-01 1.56306112e-02 3.18205686e+01] [-1.58731008e-01 9.87318655e-01 -2.51824171e-03 -2.90414166e+00] [-1.58321674e-02 4.93274874e-06 9.99874663e-01 -8.36815646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.85, Y:-2.91, Z:-0.84 [[ 9.87589317e-01 1.56315418e-01 1.52588346e-02 3.18517683e+01] [-1.56296045e-01 9.87707187e-01 -2.46137474e-03 -2.90902262e+00] [-1.54560114e-02 4.59319043e-05 9.99880548e-01 -8.37322296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:-2.91, Z:-0.84 [[ 9.88365840e-01 1.51218275e-01 1.63094903e-02 3.18835247e+01] [-1.51195448e-01 9.88500387e-01 -2.63085039e-03 -2.91472544e+00] [-1.65197701e-02 1.34321966e-04 9.99863530e-01 -8.37673767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.92, Z:-0.84 [[ 9.88715064e-01 1.48878083e-01 1.66684968e-02 3.19165706e+01] [-1.48853856e-01 9.88855542e-01 -2.69179796e-03 -2.92018886e+00] [-1.68834851e-02 1.80251182e-04 9.99857448e-01 -8.38278196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.93, Z:-0.84 [[ 9.89052232e-01 1.46581803e-01 1.70134515e-02 3.19488485e+01] [-1.46556166e-01 9.89198526e-01 -2.75080830e-03 -2.92524022e+00] [-1.72328996e-02 2.27266873e-04 9.99851477e-01 -8.39125145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.98, Y:-2.93, Z:-0.84 [[ 9.89332724e-01 1.44649992e-01 1.72377854e-02 3.19815053e+01] [-1.44623323e-01 9.89482849e-01 -2.79038030e-03 -2.93024312e+00] [-1.74601215e-02 2.67628736e-04 9.99847525e-01 -8.39779419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:-2.94, Z:-0.84 [[ 9.89748176e-01 1.41759631e-01 1.73998509e-02 3.20133028e+01] [-1.41731952e-01 9.89901056e-01 -2.81995242e-03 -2.93549595e+00] [-1.76238862e-02 3.24927934e-04 9.99844634e-01 -8.40519493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.05, Y:-2.94, Z:-0.84 [[ 9.89864616e-01 1.41006464e-01 1.68884320e-02 3.20460641e+01] [-1.40980231e-01 9.90008620e-01 -2.73990508e-03 -2.94112593e+00] [-1.71060376e-02 3.31200039e-04 9.99853626e-01 -8.41070457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-2.95, Z:-0.84 [[ 9.89868503e-01 1.41007782e-01 1.66479135e-02 3.20779084e+01] [-1.40982238e-01 9.90008433e-01 -2.70399282e-03 -2.94712979e+00] [-1.68628588e-02 3.29537216e-04 9.99857758e-01 -8.42517217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:-2.95, Z:-0.84 [[ 9.89748886e-01 1.41999836e-01 1.52705401e-02 3.21098400e+01] [-1.41978427e-01 9.89866639e-01 -2.48261286e-03 -2.95384481e+00] [-1.54683288e-02 2.89076052e-04 9.99880316e-01 -8.42780261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.96, Z:-0.84 [[ 9.89556043e-01 1.43345600e-01 1.51946599e-02 3.21412045e+01] [-1.43324515e-01 9.89672656e-01 -2.47325070e-03 -2.95918751e+00] [-1.53922690e-02 2.69652908e-04 9.99881496e-01 -8.43650705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.96, Z:-0.84 [[ 9.89054780e-01 1.46812788e-01 1.47189728e-02 3.21734774e+01] [-1.46793350e-01 9.89164274e-01 -2.39831126e-03 -2.96328826e+00] [-1.49115848e-02 2.11413878e-04 9.99888794e-01 -8.44461438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.378623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:32.20, Y:-2.97, Z:-0.84 [[ 9.88769006e-01 1.48720102e-01 1.47710693e-02 3.22041632e+01] [-1.48700688e-01 9.88879313e-01 -2.41014638e-03 -2.96768085e+00] [-1.49652421e-02 1.86609880e-04 9.99887997e-01 -8.44703155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.408623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:32.24, Y:-2.97, Z:-0.85 [[ 9.88466714e-01 1.50686344e-01 1.50725348e-02 3.22364549e+01] [-1.50666340e-01 9.88581610e-01 -2.46052878e-03 -2.97248638e+00] [-1.52711988e-02 1.61227146e-04 9.99883375e-01 -8.45309619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.438623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.98, Z:-0.85 [[ 9.87926445e-01 1.54132370e-01 1.56381828e-02 3.22674214e+01] [-1.54111216e-01 9.88050201e-01 -2.55609146e-03 -2.97726968e+00] [-1.58452861e-02 1.15210969e-04 9.99874449e-01 -8.46086065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468623853000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:32.30, Y:-2.98, Z:-0.85 [[ 9.87731975e-01 1.55328224e-01 1.60838128e-02 3.22975310e+01] [-1.55306000e-01 9.87862912e-01 -2.62933061e-03 -2.98182312e+00] [-1.62970114e-02 9.91612806e-05 9.99867190e-01 -8.46442534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.498623853000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:32.33, Y:-2.99, Z:-0.85 [[ 9.87513971e-01 1.56713207e-01 1.60351984e-02 3.23292943e+01] [-1.56691300e-01 9.87644149e-01 -2.62131542e-03 -2.98721956e+00] [-1.62478647e-02 7.60095115e-05 9.99867992e-01 -8.47150791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:32.36, Y:-2.99, Z:-0.85 [[ 9.87324560e-01 1.57914657e-01 1.59114668e-02 3.23601601e+01] [-1.57893198e-01 9.87452762e-01 -2.60386546e-03 -2.99276991e+00] [-1.61230104e-02 5.85479370e-05 9.99870014e-01 -8.48029307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.558623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:32.39, Y:-3.00, Z:-0.85 [[ 9.87181333e-01 1.58869586e-01 1.52797693e-02 3.23909421e+01] [-1.58849868e-01 9.87299576e-01 -2.50332935e-03 -2.99798870e+00] [-1.54834127e-02 4.40506609e-05 9.99880124e-01 -8.46851866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:32.42, Y:-3.00, Z:-0.85 [[ 9.87161206e-01 1.59012483e-01 1.50925141e-02 3.24221162e+01] [-1.58993257e-01 9.87276571e-01 -2.47301021e-03 -3.00308269e+00] [-1.52937250e-02 4.16517718e-05 9.99883043e-01 -8.49688202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.618623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:32.45, Y:-3.01, Z:-0.85 [[ 9.87241049e-01 1.58644921e-01 1.36711380e-02 3.24527089e+01] [-1.58629106e-01 9.87335701e-01 -2.24039825e-03 -3.00796250e+00] [-1.38534304e-02 4.31727159e-05 9.99904036e-01 -8.45846490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648623853000004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:32.48, Y:-3.01, Z:-0.85 [[ 9.87295883e-01 1.58287158e-01 1.38569576e-02 3.24839130e+01] [-1.58270871e-01 9.87393120e-01 -2.27119346e-03 -3.01345908e+00] [-1.40417654e-02 4.91871982e-05 9.99901408e-01 -8.51636795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.678623853000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:32.51, Y:-3.02, Z:-0.85 [[ 9.87405522e-01 1.57592772e-01 1.39589667e-02 3.25140777e+01] [-1.57576169e-01 9.87504185e-01 -2.28832145e-03 -3.01812658e+00] [-1.41451609e-02 5.99007424e-05 9.99899950e-01 -8.52567507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:32.54, Y:-3.03, Z:-0.85 [[ 9.87586396e-01 1.56381726e-01 1.47602803e-02 3.25448950e+01] [-1.56363024e-01 9.87696689e-01 -2.41982511e-03 -3.02519961e+00] [-1.49570964e-02 8.18242932e-05 9.99888133e-01 -8.52842342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.738623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:32.58, Y:-3.03, Z:-0.85 [[ 9.87653506e-01 1.55911108e-01 1.52406493e-02 3.25767091e+01] [-1.55891117e-01 9.87771086e-01 -2.49836897e-03 -3.03185918e+00] [-1.54437962e-02 9.16410300e-05 9.99880733e-01 -8.53036732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:32.61, Y:-3.04, Z:-0.85 [[ 9.87677619e-01 1.55686828e-01 1.59541013e-02 3.26078100e+01] [-1.55664843e-01 9.87806459e-01 -2.61830359e-03 -3.03805130e+00] [-1.61671997e-02 1.02547165e-04 9.99869297e-01 -8.53487061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.798623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:32.64, Y:-3.04, Z:-0.85 [[ 9.87801532e-01 1.54894180e-01 1.59977165e-02 3.26383989e+01] [-1.54871920e-01 9.87931060e-01 -2.62862781e-03 -3.04373572e+00] [-1.62118002e-02 1.18965503e-04 9.99868573e-01 -8.53886612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:32.67, Y:-3.05, Z:-0.85 [[ 9.87853279e-01 1.54579867e-01 1.58418381e-02 3.26702975e+01] [-1.54557960e-01 9.87980288e-01 -2.60539163e-03 -3.04954509e+00] [-1.60541648e-02 1.25262491e-04 9.99871116e-01 -8.54965263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.858623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:32.70, Y:-3.06, Z:-0.86 [[ 9.87954528e-01 1.53943332e-01 1.57257976e-02 3.27015466e+01] [-1.53921624e-01 9.88079669e-01 -2.58886595e-03 -3.05514805e+00] [-1.59368795e-02 1.37141548e-04 9.99872990e-01 -8.55470568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:32.73, Y:-3.06, Z:-0.86 [[ 9.88082798e-01 1.53113904e-01 1.57643995e-02 3.27325181e+01] [-1.53091941e-01 9.88208535e-01 -2.59782126e-03 -3.06118535e+00] [-1.59762767e-02 1.53459989e-04 9.99872359e-01 -8.56941282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.918623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:32.76, Y:-3.07, Z:-0.86 [[ 9.88173040e-01 1.52553981e-01 1.55346442e-02 3.27647635e+01] [-1.52532542e-01 9.88295126e-01 -2.56263056e-03 -3.06723625e+00] [-1.57437526e-02 1.62783669e-04 9.99876046e-01 -8.58134712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:32.80, Y:-3.07, Z:-0.85 [[ 9.88433545e-01 1.51005767e-01 1.40137445e-02 3.27958849e+01] [-1.50988132e-01 9.88532867e-01 -2.31410062e-03 -3.07413954e+00] [-1.42024896e-02 1.71425575e-04 9.99899125e-01 -8.54669374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.978623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:32.83, Y:-3.08, Z:-0.86 [[ 9.88512395e-01 1.50526455e-01 1.36026350e-02 3.28281225e+01] [-1.50509764e-01 9.88605966e-01 -2.24841092e-03 -3.08045130e+00] [-1.37860914e-02 1.75252684e-04 9.99904952e-01 -8.60256028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:32.86, Y:-3.09, Z:-0.86 [[ 9.88595554e-01 1.50018259e-01 1.31663222e-02 3.28596687e+01] [-1.50002543e-01 9.88683210e-01 -2.17882440e-03 -3.08610067e+00] [-1.33441851e-02 1.78994309e-04 9.99910946e-01 -8.61295917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.038623853000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:32.89, Y:-3.09, Z:-0.86 [[ 9.88564507e-01 1.50214025e-01 1.32650527e-02 3.28920775e+01] [-1.50198058e-01 9.88653485e-01 -2.19753386e-03 -3.09257573e+00] [-1.34446409e-02 1.80018833e-04 9.99909601e-01 -8.61737661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068623853000005 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:32.92, Y:-3.10, Z:-0.86 [[ 9.88478727e-01 1.50720984e-01 1.38920994e-02 3.29246780e+01] [-1.50703480e-01 9.88576325e-01 -2.30434444e-03 -3.09874994e+00] [-1.40807137e-02 1.84207730e-04 9.99900845e-01 -8.62087689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.098623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:32.96, Y:-3.10, Z:-0.86 [[ 9.88465840e-01 1.50805527e-01 1.38915562e-02 3.29576990e+01] [-1.50787986e-01 9.88563432e-01 -2.30761421e-03 -3.10437233e+00] [-1.40806854e-02 1.86318041e-04 9.99900845e-01 -8.62734320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:32.99, Y:-3.11, Z:-0.86 [[ 9.88318424e-01 1.51697100e-01 1.46520619e-02 3.29895658e+01] [-1.51677669e-01 9.88427011e-01 -2.43489153e-03 -3.11061153e+00] [-1.48518597e-02 1.84057565e-04 9.99889688e-01 -8.63235513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.158623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:33.02, Y:-3.12, Z:-0.86 [[ 9.88135716e-01 1.52820388e-01 1.52884239e-02 3.30218005e+01] [-1.52799321e-01 9.88253964e-01 -2.54360640e-03 -3.11709234e+00] [-1.54975605e-02 1.77367542e-04 9.99879890e-01 -8.63561684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.188623853 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:33.05, Y:-3.12, Z:-0.86 [[ 9.87730140e-01 1.55385825e-01 1.56337815e-02 3.30543235e+01] [-1.55364066e-01 9.87853848e-01 -2.60426000e-03 -3.12441151e+00] [-1.58485563e-02 1.43378240e-04 9.99874393e-01 -8.63674538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.218623853000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:33.09, Y:-3.13, Z:-0.86 [[ 9.87467965e-01 1.57063225e-01 1.54324717e-02 3.30857461e+01] [-1.57042178e-01 9.87588543e-01 -2.57384163e-03 -3.13024158e+00] [-1.56451881e-02 1.18037186e-04 9.99877600e-01 -8.64362414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248623853000005 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:33.12, Y:-3.14, Z:-0.87 [[ 9.87216441e-01 1.58656205e-01 1.52285232e-02 3.31179590e+01] [-1.58635857e-01 9.87333885e-01 -2.54261339e-03 -3.13573792e+00] [-1.54390384e-02 9.43198994e-05 9.99880806e-01 -8.65414351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.278623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:33.15, Y:-3.14, Z:-0.86 [[ 9.86665958e-01 1.62094765e-01 1.46824407e-02 3.31502771e+01] [-1.62076190e-01 9.86775195e-01 -2.45423607e-03 -3.14088359e+00] [-1.48860871e-02 4.18371476e-05 9.99889195e-01 -8.60424608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:33.18, Y:-3.15, Z:-0.87 [[ 9.86322472e-01 1.64110066e-01 1.53579457e-02 3.31817137e+01] [-1.64089935e-01 9.86442034e-01 -2.57045989e-03 -3.14606007e+00] [-1.55715616e-02 1.52180313e-05 9.99878756e-01 -8.67480021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.338623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:33.21, Y:-3.15, Z:-0.87 [[ 9.85981099e-01 1.66134720e-01 1.55089724e-02 3.32134190e+01] [-1.66114394e-01 9.86103065e-01 -2.59875188e-03 -3.15105385e+00] [-1.57251882e-02 -1.39433219e-05 9.99876351e-01 -8.67806029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.368623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:33.24, Y:-3.15, Z:-0.87 [[ 9.85355088e-01 1.69797176e-01 1.56291134e-02 3.32449504e+01] [-1.69776943e-01 9.85479028e-01 -2.62210621e-03 -3.15346279e+00] [-1.58473897e-02 -6.97574005e-05 9.99874420e-01 -8.67694705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.398623853000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:33.27, Y:-3.16, Z:-0.87 [[ 9.85044015e-01 1.71581697e-01 1.57483271e-02 3.32749338e+01] [-1.71561378e-01 9.85169890e-01 -2.64239583e-03 -3.15660508e+00] [-1.59681645e-02 -9.89284989e-05 9.99872496e-01 -8.68691316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428623853000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.16, Z:-0.87 [[ 9.84730013e-01 1.73379281e-01 1.56979544e-02 3.33057198e+01] [-1.73359304e-01 9.84855121e-01 -2.63495196e-03 -3.16002798e+00] [-1.59170569e-02 -1.26670168e-04 9.99873308e-01 -8.69077928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.458623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:33.34, Y:-3.16, Z:-0.87 [[ 9.84147036e-01 1.76645618e-01 1.58409782e-02 3.33361827e+01] [-1.76625691e-01 9.84274501e-01 -2.65940712e-03 -3.16051795e+00] [-1.60616435e-02 -1.80676087e-04 9.99870987e-01 -8.69806903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:33.37, Y:-3.16, Z:-0.87 [[ 9.83880510e-01 1.78129178e-01 1.57840955e-02 3.33669159e+01] [-1.78109580e-01 9.84007091e-01 -2.65009692e-03 -3.16332280e+00] [-1.60037214e-02 -2.03919914e-04 9.99871911e-01 -8.69934371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.518623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.40, Y:-3.16, Z:-0.87 [[ 9.83504023e-01 1.80181681e-01 1.59498950e-02 3.33972495e+01] [-1.80161939e-01 9.83633318e-01 -2.67797266e-03 -3.16290853e+00] [-1.61713698e-02 -2.39767126e-04 9.99869206e-01 -8.70887673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.548623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.43, Y:-3.16, Z:-0.87 [[ 9.83457258e-01 1.80471616e-01 1.55504952e-02 3.34274457e+01] [-1.80452890e-01 9.83580164e-01 -2.61068145e-03 -3.16498136e+00] [-1.57663125e-02 -2.38638184e-04 9.99875675e-01 -8.71877360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.578623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:33.46, Y:-3.17, Z:-0.87 [[ 9.83493248e-01 1.80321085e-01 1.50112420e-02 3.34562580e+01] [-1.80303616e-01 9.83607775e-01 -2.52029944e-03 -3.16684326e+00] [-1.52196375e-02 -2.27883727e-04 9.99884149e-01 -8.72997687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608623853000005 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:33.49, Y:-3.17, Z:-0.87 [[ 9.83625006e-01 1.79627253e-01 1.46934354e-02 3.34863275e+01] [-1.79610447e-01 9.83734723e-01 -2.46635520e-03 -3.16932409e+00] [-1.48974672e-02 -2.13125851e-04 9.99889004e-01 -8.73849996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.638623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:33.51, Y:-3.17, Z:-0.87 [[ 9.84109444e-01 1.76959528e-01 1.46262976e-02 3.35148751e+01] [-1.76942585e-01 9.84218114e-01 -2.45471922e-03 -3.16977905e+00] [-1.48298530e-02 -1.72302551e-04 9.99890017e-01 -8.74541992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668623853 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:33.54, Y:-3.17, Z:-0.88 [[ 9.84504820e-01 1.74762722e-01 1.44308851e-02 3.35448517e+01] [-1.74745999e-01 9.84610569e-01 -2.42156368e-03 -3.17227268e+00] [-1.46320010e-02 -1.37698314e-04 9.99892937e-01 -8.75006952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.698623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:33.57, Y:-3.17, Z:-0.88 [[ 9.85545528e-01 1.68754586e-01 1.48964017e-02 3.35736979e+01] [-1.68736084e-01 9.85658099e-01 -2.49934234e-03 -3.17294753e+00] [-1.51045344e-02 -5.03448145e-05 9.99885919e-01 -8.75932978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.728623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.60, Y:-3.18, Z:-0.88 [[ 9.86169437e-01 1.65040236e-01 1.52171652e-02 3.36032518e+01] [-1.65020496e-01 9.86286835e-01 -2.55253099e-03 -3.17648804e+00] [-1.54297600e-02 6.08389391e-06 9.99880954e-01 -8.76455824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.758623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:33.63, Y:-3.18, Z:-0.88 [[ 9.86877358e-01 1.60749325e-01 1.52556316e-02 3.36324893e+01] [-1.60728978e-01 9.86995263e-01 -2.55861386e-03 -3.18031901e+00] [-1.54685316e-02 7.30160054e-05 9.99880352e-01 -8.77058892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788623853000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.19, Z:-0.88 [[ 9.88357421e-01 1.51431743e-01 1.47660213e-02 3.36624909e+01] [-1.51411647e-01 9.88467694e-01 -2.47604851e-03 -3.18502739e+00] [-1.49706874e-02 2.11473327e-04 9.99887911e-01 -8.78445273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.818623853000005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:33.69, Y:-3.19, Z:-0.88 [[ 9.89030292e-01 1.46975654e-01 1.47390020e-02 3.36921333e+01] [-1.46955136e-01 9.89140071e-01 -2.47146553e-03 -3.19054319e+00] [-1.49421828e-02 2.78382227e-04 9.99888321e-01 -8.79873529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.20, Z:-0.88 [[ 9.89672822e-01 1.42639932e-01 1.41969916e-02 3.37228249e+01] [-1.42620448e-01 9.89774591e-01 -2.38068732e-03 -3.19611142e+00] [-1.43914026e-02 3.31320239e-04 9.99896384e-01 -8.80139986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.878623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:33.75, Y:-3.20, Z:-0.88 [[ 9.90667207e-01 1.35590731e-01 1.39154211e-02 3.37531372e+01] [-1.35571322e-01 9.90764843e-01 -2.33312315e-03 -3.20213005e+00] [-1.41032599e-02 4.24816562e-04 9.99900454e-01 -8.80843333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.908623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.21, Z:-0.88 [[ 9.91023453e-01 1.32939432e-01 1.41288103e-02 3.37847575e+01] [-1.32919123e-01 9.91124051e-01 -2.37105070e-03 -3.20827627e+00] [-1.43186098e-02 4.71777785e-04 9.99897372e-01 -8.81245340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.938623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.22, Z:-0.88 [[ 9.91459842e-01 1.29615460e-01 1.43949339e-02 3.38161673e+01] [-1.29593992e-01 9.91564193e-01 -2.41823646e-03 -3.21618171e+00] [-1.45869418e-02 5.32087387e-04 9.99893463e-01 -8.81869634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968623853000004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:33.85, Y:-3.22, Z:-0.88 [[ 9.91618436e-01 1.28399879e-01 1.43648490e-02 3.38486306e+01] [-1.28378335e-01 9.91722324e-01 -2.41580238e-03 -3.22264936e+00] [-1.45561301e-02 5.51418781e-04 9.99893902e-01 -8.82086965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.998623853000005 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.23, Z:-0.88 [[ 9.91643066e-01 1.28184116e-01 1.45897796e-02 3.38799896e+01] [-1.28161824e-01 9.91750227e-01 -2.45662455e-03 -3.22944113e+00] [-1.47843174e-02 5.66241930e-04 9.99890546e-01 -8.82827175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:33.91, Y:-3.24, Z:-0.88 [[ 9.91545502e-01 1.28884708e-01 1.50415994e-02 3.39110102e+01] [-1.28861050e-01 9.91659418e-01 -2.53558052e-03 -3.23615639e+00] [-1.52429413e-02 5.75867153e-04 9.99883654e-01 -8.83010973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.058623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:33.94, Y:-3.24, Z:-0.88 [[ 9.91351762e-01 1.30358305e-01 1.51128008e-02 3.39431621e+01] [-1.30334552e-01 9.91466792e-01 -2.55029805e-03 -3.24239061e+00] [-1.53162926e-02 5.58522346e-04 9.99882543e-01 -8.83058895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.088623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.25, Z:-0.88 [[ 9.91073936e-01 1.32396663e-01 1.56069774e-02 3.39749885e+01] [-1.32371532e-01 9.91196663e-01 -2.63696501e-03 -3.24885757e+00] [-1.58187093e-02 5.47507777e-04 9.99874726e-01 -8.83871153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.118623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.26, Z:-0.88 [[ 9.90481319e-01 1.36720116e-01 1.59488924e-02 3.40060131e+01] [-1.36694383e-01 9.90609594e-01 -2.69777654e-03 -3.25605055e+00] [-1.61679661e-02 4.91973273e-04 9.99869169e-01 -8.84159712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148623853000004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.26, Z:-0.88 [[ 9.90151842e-01 1.39066415e-01 1.61202521e-02 3.40377525e+01] [-1.39040386e-01 9.90282949e-01 -2.72981673e-03 -3.26224616e+00] [-1.63432366e-02 4.61567003e-04 9.99866334e-01 -8.84910259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.178623853000005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.27, Z:-0.89 [[ 9.89471478e-01 1.43906475e-01 1.53987206e-02 3.40693095e+01] [-1.43883272e-01 9.89591225e-01 -2.61005320e-03 -3.26880487e+00] [-1.56140424e-02 3.66954897e-04 9.99878026e-01 -8.86017663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.27, Z:-0.89 [[ 9.89124538e-01 1.46289673e-01 1.52308660e-02 3.41006164e+01] [-1.46267215e-01 9.89241742e-01 -2.58417228e-03 -3.27465337e+00] [-1.54450461e-02 3.28291856e-04 9.99880664e-01 -8.86798836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.238623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.28, Z:-0.89 [[ 9.88777421e-01 1.48642884e-01 1.49834722e-02 3.41311246e+01] [-1.48621380e-01 9.88890899e-01 -2.54481498e-03 -3.28033371e+00] [-1.51952879e-02 2.89391272e-04 9.99884503e-01 -8.87466092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.29, Z:-0.89 [[ 9.88457984e-01 1.50782979e-01 1.46733546e-02 3.41619257e+01] [-1.50762548e-01 9.88566856e-01 -2.49505387e-03 -3.28610963e+00] [-1.48818037e-02 2.54063592e-04 9.99889228e-01 -8.88157504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.298623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.29, Z:-0.89 [[ 9.87894958e-01 1.54510802e-01 1.37827734e-02 3.41913943e+01] [-1.54493133e-01 9.87991082e-01 -2.34404649e-03 -3.29262694e+00] [-1.39794377e-02 1.86327867e-04 9.99902266e-01 -8.88878460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:34.22, Y:-3.30, Z:-0.89 [[ 9.87639517e-01 1.56141351e-01 1.37136317e-02 3.42215325e+01] [-1.56124016e-01 9.87734707e-01 -2.33228751e-03 -3.29847078e+00] [-1.39095965e-02 1.62432063e-04 9.99903244e-01 -8.89236776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.358623853000005 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.30, Z:-0.89 [[ 9.87227435e-01 1.58694872e-01 1.40687607e-02 3.42505446e+01] [-1.58676885e-01 9.87327666e-01 -2.39274647e-03 -3.30425748e+00] [-1.42701933e-02 1.29797827e-04 9.99898167e-01 -8.89935028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.31, Z:-0.89 [[ 9.87015770e-01 1.60009618e-01 1.40282665e-02 3.42805978e+01] [-1.59991871e-01 9.87115449e-01 -2.38562234e-03 -3.30977240e+00] [-1.42292411e-02 1.10238273e-04 9.99898753e-01 -8.90364218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.418623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:34.31, Y:-3.32, Z:-0.89 [[ 9.86804980e-01 1.61300809e-01 1.40705824e-02 3.43105321e+01] [-1.61283087e-01 9.86905285e-01 -2.39275667e-03 -3.31541049e+00] [-1.42722857e-02 9.18372334e-05 9.99898142e-01 -8.91051773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.32, Z:-0.89 [[ 9.86398984e-01 1.63707275e-01 1.47299858e-02 3.43404231e+01] [-1.63688117e-01 9.86508958e-01 -2.50513953e-03 -3.32190583e+00] [-1.49413725e-02 5.99434493e-05 9.99888370e-01 -8.92161245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.478623853 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.33, Z:-0.89 [[ 9.86181321e-01 1.64991252e-01 1.49762935e-02 3.43702408e+01] [-1.64971597e-01 9.86295029e-01 -2.54697865e-03 -3.32813938e+00] [-1.51912730e-02 4.11197124e-05 9.99884605e-01 -8.92643811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.33, Z:-0.89 [[ 9.86029285e-01 1.65904104e-01 1.49022729e-02 3.44007600e+01] [-1.65884745e-01 9.86141890e-01 -2.53452310e-03 -3.33345860e+00] [-1.51162434e-02 2.70542495e-05 9.99885743e-01 -8.89103674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.538623853000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.34, Z:-0.89 [[ 9.85683816e-01 1.67979198e-01 1.45052862e-02 3.44300507e+01] [-1.67961075e-01 9.85790540e-01 -2.46741534e-03 -3.33919536e+00] [-1.47136484e-02 -4.23210265e-06 9.99891748e-01 -8.94149825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568623853000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.34, Z:-0.90 [[ 9.85608409e-01 1.68495107e-01 1.36185073e-02 3.44605165e+01] [-1.68479179e-01 9.85702490e-01 -2.31679463e-03 -3.34465743e+00] [-1.38141651e-02 -1.09826522e-05 9.99904580e-01 -8.95193942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.598623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.35, Z:-0.90 [[ 9.85598085e-01 1.68603274e-01 1.30134923e-02 3.44903555e+01] [-1.68588739e-01 9.85683994e-01 -2.21386886e-03 -3.35002696e+00] [-1.32004566e-02 -1.19433515e-05 9.99912870e-01 -8.96370917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:34.52, Y:-3.36, Z:-0.90 [[ 9.85692893e-01 1.68046372e-01 1.30360204e-02 3.45195637e+01] [-1.68031737e-01 9.85779091e-01 -2.21777683e-03 -3.35554246e+00] [-1.32233257e-02 -4.41828531e-06 9.99912568e-01 -8.97441297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.658623853 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:34.55, Y:-3.36, Z:-0.90 [[ 9.85828976e-01 1.67208062e-01 1.35164295e-02 3.45489561e+01] [-1.67192253e-01 9.85921632e-01 -2.29925858e-03 -3.36189640e+00] [-1.37105948e-02 6.83344573e-06 9.99906005e-01 -8.97930914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.688623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:34.58, Y:-3.37, Z:-0.90 [[ 9.86001723e-01 1.66159034e-01 1.38483658e-02 3.45788235e+01] [-1.66142336e-01 9.86098968e-01 -2.35565815e-03 -3.36826454e+00] [-1.40472731e-02 2.18831529e-05 9.99901332e-01 -8.98365987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.718623853000004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:34.61, Y:-3.38, Z:-0.90 [[ 9.86336451e-01 1.64153928e-01 1.39245346e-02 3.46094476e+01] [-1.64136845e-01 9.86434734e-01 -2.36872928e-03 -3.37576491e+00] [-1.41244808e-02 5.08348582e-05 9.99900243e-01 -8.98661260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748623853000005 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:34.64, Y:-3.38, Z:-0.90 [[ 9.86380640e-01 1.63891511e-01 1.38854216e-02 3.46394016e+01] [-1.63874492e-01 9.86478368e-01 -2.36248782e-03 -3.38173044e+00] [-1.40848597e-02 5.48458450e-05 9.99900802e-01 -8.99340146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.778623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:34.67, Y:-3.39, Z:-0.90 [[ 9.86399674e-01 1.63754164e-01 1.41512138e-02 3.46687121e+01] [-1.63736470e-01 9.86501176e-01 -2.40789367e-03 -3.38764268e+00] [-1.43544917e-02 5.80757319e-05 9.99896967e-01 -8.99912327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:34.70, Y:-3.39, Z:-0.90 [[ 9.86310391e-01 1.64285927e-01 1.42108295e-02 3.46995277e+01] [-1.64268138e-01 9.86412759e-01 -2.41815047e-03 -3.39485728e+00] [-1.44150117e-02 5.06604321e-05 9.99896097e-01 -9.00616323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.838623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:34.73, Y:-3.40, Z:-0.90 [[ 9.86171170e-01 1.65128599e-01 1.41056743e-02 3.47296872e+01] [-1.65111156e-01 9.86272044e-01 -2.40044034e-03 -3.40066006e+00] [-1.43084136e-02 3.82408736e-05 9.99897629e-01 -9.01016726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.868623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:34.76, Y:-3.41, Z:-0.90 [[ 9.86026594e-01 1.65979073e-01 1.42303387e-02 3.47604649e+01] [-1.65961393e-01 9.86129275e-01 -2.42263671e-03 -3.40665640e+00] [-1.44350606e-02 2.70973823e-05 9.99895809e-01 -9.01405112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.898623853000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:34.79, Y:-3.41, Z:-0.90 [[ 9.85693401e-01 1.67998383e-01 1.36037409e-02 3.47901647e+01] [-1.67982413e-01 9.85787271e-01 -2.31635185e-03 -3.41255763e+00] [-1.37995379e-02 -1.97648281e-06 9.99904782e-01 -9.02105082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928623853000005 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.42, Z:-0.90 [[ 9.85535895e-01 1.68970603e-01 1.29589566e-02 3.48203096e+01] [-1.68956192e-01 9.85621091e-01 -2.20678893e-03 -3.41764659e+00] [-1.31455034e-02 -1.46262661e-05 9.99913594e-01 -8.97301743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.958623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.42, Z:-0.90 [[ 9.85327872e-01 1.70162175e-01 1.31840285e-02 3.48507125e+01] [-1.70147369e-01 9.85416071e-01 -2.24496964e-03 -3.42331790e+00] [-1.33737625e-02 -3.11965917e-05 9.99910567e-01 -9.03620593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.43, Z:-0.90 [[ 9.85325794e-01 1.70174213e-01 1.31839614e-02 3.48812661e+01] [-1.70159402e-01 9.85413992e-01 -2.24536365e-03 -3.42852687e+00] [-1.33737630e-02 -3.09602563e-05 9.99910567e-01 -9.04218757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.018623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.43, Z:-0.90 [[ 9.84870365e-01 1.72772247e-01 1.34206597e-02 3.49105039e+01] [-1.72757138e-01 9.84961799e-01 -2.28584908e-03 -3.43468604e+00] [-1.36137684e-02 -6.72497396e-05 9.99907326e-01 -9.04883035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.048623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.44, Z:-0.90 [[ 9.84601867e-01 1.74285055e-01 1.35603868e-02 3.49406211e+01] [-1.74269770e-01 9.84695238e-01 -2.30988811e-03 -3.43984930e+00] [-1.37554273e-02 -8.88453390e-05 9.99905386e-01 -9.00242944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:34.97, Y:-3.44, Z:-0.91 [[ 9.83932310e-01 1.77926309e-01 1.48134122e-02 3.49704273e+01] [-1.77908481e-01 9.84043802e-01 -2.52332955e-03 -3.44393907e+00] [-1.50260132e-02 -1.52646194e-04 9.99887091e-01 -9.05452623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.45, Z:-0.91 [[ 9.83591342e-01 1.79819233e-01 1.45984554e-02 3.49995621e+01] [-1.79802126e-01 9.83699655e-01 -2.48676811e-03 -3.44819983e+00] [-1.48076643e-02 -1.78869738e-04 9.99890345e-01 -9.06303446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.138623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:35.03, Y:-3.45, Z:-0.91 [[ 9.83257290e-01 1.81642010e-01 1.45355511e-02 3.50284527e+01] [-1.81625252e-01 9.83364702e-01 -2.47587301e-03 -3.45229066e+00] [-1.47434704e-02 -2.05602945e-04 9.99891288e-01 -9.06738653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:35.06, Y:-3.45, Z:-0.90 [[ 9.82645180e-01 1.84889206e-01 1.49810416e-02 3.50588052e+01] [-1.84871784e-01 9.82759336e-01 -2.55161818e-03 -3.45324252e+00] [-1.51945252e-02 -2.62236597e-04 9.99884522e-01 -9.02539871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.198623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:35.09, Y:-3.46, Z:-0.91 [[ 9.82327176e-01 1.86565335e-01 1.50563686e-02 3.50881895e+01] [-1.86547940e-01 9.82442513e-01 -2.56408042e-03 -3.45694329e+00] [-1.52703851e-02 -2.89968657e-04 9.99883359e-01 -9.08359391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.228623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:35.12, Y:-3.46, Z:-0.91 [[ 9.82098152e-01 1.87788929e-01 1.47830246e-02 3.51165271e+01] [-1.87772303e-01 9.82209359e-01 -2.51722741e-03 -3.45979926e+00] [-1.49927326e-02 -3.03678194e-04 9.99887557e-01 -9.09159771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.258623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.46, Z:-0.91 [[ 9.81937214e-01 1.88672468e-01 1.42129066e-02 3.51462516e+01] [-1.88657200e-01 9.82040023e-01 -2.41959376e-03 -3.46242724e+00] [-1.44141539e-02 -3.05478013e-04 9.99896064e-01 -9.09477606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288623853000004 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.46, Z:-0.90 [[ 9.81911593e-01 1.88869428e-01 1.33402609e-02 3.51767018e+01] [-1.88856000e-01 9.82002167e-01 -2.27074104e-03 -3.46262698e+00] [-1.35290386e-02 -2.89721354e-04 9.99908436e-01 -9.03794776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.318623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.47, Z:-0.91 [[ 9.81922917e-01 1.88819264e-01 1.32163035e-02 3.52055674e+01] [-1.88806082e-01 9.82011814e-01 -2.24938584e-03 -3.46580350e+00] [-1.34032936e-02 -2.86594985e-04 9.99910131e-01 -9.11416472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.23, Y:-3.47, Z:-0.91 [[ 9.82167845e-01 1.87491080e-01 1.39075180e-02 3.52338573e+01] [-1.87476357e-01 9.82266265e-01 -2.36658457e-03 -3.46609981e+00] [-1.41045993e-02 -2.82947545e-04 9.99900485e-01 -9.11905193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.378623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.47, Z:-0.91 [[ 9.82377579e-01 1.86302755e-01 1.50191609e-02 3.52623207e+01] [-1.86285461e-01 9.82492341e-01 -2.55471238e-03 -3.46873919e+00] [-1.52321605e-02 -2.88159151e-04 9.99883942e-01 -9.12189143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.408623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:35.29, Y:-3.47, Z:-0.91 [[ 9.82685194e-01 1.84629569e-01 1.55477120e-02 3.52906835e+01] [-1.84610840e-01 9.82808144e-01 -2.64377066e-03 -3.47140536e+00] [-1.57685362e-02 -2.72281897e-04 9.99875632e-01 -9.12551501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.438623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.47, Z:-0.91 [[ 9.83582258e-01 1.79757548e-01 1.59111766e-02 3.53208275e+01] [-1.79737305e-01 9.83710925e-01 -2.70492981e-03 -3.47232597e+00] [-1.61382298e-02 -1.99311048e-04 9.99869750e-01 -9.13542330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468623853000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.48, Z:-0.91 [[ 9.84163101e-01 1.76546806e-01 1.59441634e-02 3.53503452e+01] [-1.76526065e-01 9.84292235e-01 -2.71014964e-03 -3.47576895e+00] [-1.61721845e-02 -1.47331159e-04 9.99869211e-01 -9.14452336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.498623853000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.48, Z:-0.92 [[ 9.84792286e-01 1.73012366e-01 1.58389939e-02 3.53783424e+01] [-1.72991446e-01 9.84919648e-01 -2.69191145e-03 -3.47925012e+00] [-1.60658703e-02 -8.90368298e-05 9.99870932e-01 -9.15838387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.48, Z:-0.92 [[ 9.86039019e-01 1.65854297e-01 1.48123406e-02 3.54082925e+01] [-1.65835203e-01 9.86150268e-01 -2.51675029e-03 -3.48237220e+00] [-1.50246075e-02 2.52064894e-05 9.99887124e-01 -9.17039647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.558623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.49, Z:-0.92 [[ 9.86609787e-01 1.62494589e-01 1.40227189e-02 3.54368499e+01] [-1.62477134e-01 9.86709432e-01 -2.38277313e-03 -3.48654213e+00] [-1.42235367e-02 7.24961131e-05 9.99898838e-01 -9.17928817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.588623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:35.47, Y:-3.49, Z:-0.92 [[ 9.87140472e-01 1.59287138e-01 1.34646316e-02 3.54664533e+01] [-1.59270753e-01 9.87232290e-01 -2.28739746e-03 -3.49129037e+00] [-1.36570721e-02 1.13460590e-04 9.99906731e-01 -9.18911565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.618623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.50, Z:-0.92 [[ 9.87585162e-01 1.56557513e-01 1.28565952e-02 3.54955973e+01] [-1.56542348e-01 9.87668833e-01 -2.18380781e-03 -3.49634607e+00] [-1.30399499e-02 1.44094594e-04 9.99914966e-01 -9.19316259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648623853000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:35.52, Y:-3.50, Z:-0.92 [[ 9.88237513e-01 1.52433608e-01 1.22724897e-02 3.55245528e+01] [-1.52419478e-01 9.88313695e-01 -2.08404964e-03 -3.50114677e+00] [-1.24467488e-02 1.88969566e-04 9.99922518e-01 -9.20136706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.678623853000005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.51, Z:-0.92 [[ 9.88446077e-01 1.51035048e-01 1.27580513e-02 3.55539238e+01] [-1.51019656e-01 9.88528385e-01 -2.16690358e-03 -3.50618823e+00] [-1.29389742e-02 2.15150822e-04 9.99916265e-01 -9.21029397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.58, Y:-3.51, Z:-0.92 [[ 9.88617727e-01 1.49866867e-01 1.32253964e-02 3.55842363e+01] [-1.49850229e-01 9.88706157e-01 -2.24580691e-03 -3.51097734e+00] [-1.34126029e-02 2.38415842e-04 9.99910019e-01 -9.20874753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.738623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.52, Z:-0.92 [[ 9.88863099e-01 1.48188159e-01 1.37855513e-02 3.56133996e+01] [-1.48169917e-01 9.88959147e-01 -2.34099273e-03 -3.51523759e+00] [-1.39802544e-02 2.72317338e-04 9.99902234e-01 -9.17128633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.52, Z:-0.92 [[ 9.88970930e-01 1.47388202e-01 1.46019832e-02 3.56431699e+01] [-1.47367652e-01 9.89078676e-01 -2.47938179e-03 -3.52026565e+00] [-1.48079419e-02 3.00176530e-04 9.99890311e-01 -9.21490697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.798623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.53, Z:-0.92 [[ 9.89072167e-01 1.46691925e-01 1.47555825e-02 3.56722313e+01] [-1.46670864e-01 9.89182178e-01 -2.50541285e-03 -3.52558133e+00] [-1.49634831e-02 3.13820085e-04 9.99887992e-01 -9.22097932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.53, Z:-0.92 [[ 9.89158784e-01 1.46116228e-01 1.46611316e-02 3.57025882e+01] [-1.46095369e-01 9.89267378e-01 -2.48959593e-03 -3.53150653e+00] [-1.48675496e-02 3.20682242e-04 9.99889420e-01 -9.22490559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.858623853000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.54, Z:-0.92 [[ 9.89335752e-01 1.44915619e-01 1.46367353e-02 3.57325122e+01] [-1.44894699e-01 9.89443960e-01 -2.48539808e-03 -3.53825169e+00] [-1.48424023e-02 3.38107834e-04 9.99889788e-01 -9.23165379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.54, Z:-0.92 [[ 9.89434059e-01 1.44257849e-01 1.44884526e-02 3.57621071e+01] [-1.44237277e-01 9.89540072e-01 -2.46045556e-03 -3.54399502e+00] [-1.46918445e-02 3.44683579e-04 9.99892010e-01 -9.24056372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.918623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.55, Z:-0.92 [[ 9.89577915e-01 1.43327845e-01 1.38808614e-02 3.57931680e+01] [-1.43308873e-01 9.89675205e-01 -2.35714475e-03 -3.54958338e+00] [-1.40753888e-02 3.43327789e-04 9.99900878e-01 -9.17644329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.56, Z:-0.93 [[ 9.89844820e-01 1.41346435e-01 1.51134681e-02 3.58229467e+01] [-1.41323714e-01 9.89960111e-01 -2.56634233e-03 -3.55807489e+00] [-1.53244739e-02 4.04389216e-04 9.99882492e-01 -9.25269996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.978623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.57, Z:-0.93 [[ 9.89936794e-01 1.40646248e-01 1.56133271e-02 3.58544962e+01] [-1.40621871e-01 9.90059820e-01 -2.65381240e-03 -3.56563202e+00] [-1.58313766e-02 4.31531266e-04 9.99874583e-01 -9.26017526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.57, Z:-0.93 [[ 9.90001632e-01 1.40146025e-01 1.59956505e-02 3.58857588e+01] [-1.40120328e-01 9.90130742e-01 -2.72163755e-03 -3.57346389e+00] [-1.62192120e-02 4.53109823e-04 9.99868357e-01 -9.26118926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.038623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.58, Z:-0.93 [[ 9.90097798e-01 1.39402395e-01 1.65324800e-02 3.59168610e+01] [-1.39374789e-01 9.90235698e-01 -2.81605658e-03 -3.58362637e+00] [-1.67636169e-02 4.83960509e-04 9.99859364e-01 -9.26283136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.59, Z:-0.93 [[ 9.90099708e-01 1.39413067e-01 1.63268038e-02 3.59481534e+01] [-1.39386115e-01 9.90234198e-01 -2.78283704e-03 -3.59132924e+00] [-1.65553233e-02 4.79556391e-04 9.99862836e-01 -9.26981274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.098623853 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.60, Z:-0.93 [[ 9.90076063e-01 1.39622527e-01 1.59668375e-02 3.59805141e+01] [-1.39596733e-01 9.90204691e-01 -2.72426619e-03 -3.59899036e+00] [-1.61908063e-02 4.68312393e-04 9.99868811e-01 -9.28028400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.61, Z:-0.93 [[ 9.89989178e-01 1.40309089e-01 1.53227805e-02 3.60113213e+01] [-1.40285371e-01 9.90107653e-01 -2.61731988e-03 -3.60673529e+00] [-1.55384360e-02 4.41556415e-04 9.99879174e-01 -9.28909275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.158623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.62, Z:-0.93 [[ 9.89771133e-01 1.41993263e-01 1.38208785e-02 3.60427170e+01] [-1.41974100e-01 9.89867552e-01 -2.36296889e-03 -3.61765717e+00] [-1.40163649e-02 3.76591609e-04 9.99901695e-01 -9.30171356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.188623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.63, Z:-0.93 [[ 9.89577284e-01 1.43401842e-01 1.31419509e-02 3.60727282e+01] [-1.43384605e-01 9.89664486e-01 -2.24944626e-03 -3.62619920e+00] [-1.33286968e-02 3.41647486e-04 9.99911111e-01 -9.30975509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.218623853000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:36.10, Y:-3.63, Z:-0.93 [[ 9.89372682e-01 1.44848727e-01 1.26705465e-02 3.61043807e+01] [-1.44832801e-01 9.89453763e-01 -2.17054175e-03 -3.63426675e+00] [-1.28513201e-02 3.12363977e-04 9.99917370e-01 -9.25561641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248623853000005 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.64, Z:-0.92 [[ 9.88757423e-01 1.48965555e-01 1.29623321e-02 3.61347651e+01] [-1.48949209e-01 9.88842349e-01 -2.22283467e-03 -3.64427006e+00] [-1.31488287e-02 2.67115170e-04 9.99913515e-01 -9.24817086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.65, Z:-0.93 [[ 9.88365376e-01 1.51473427e-01 1.37725801e-02 3.61665709e+01] [-1.51455188e-01 9.88461298e-01 -2.36384929e-03 -3.65272289e+00] [-1.39717228e-02 2.50418087e-04 9.99902359e-01 -9.31468864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.66, Z:-0.93 [[ 9.87947823e-01 1.54080928e-01 1.47704436e-02 3.61978552e+01] [-1.54060193e-01 9.88058204e-01 -2.53840460e-03 -3.66106363e+00] [-1.49851777e-02 2.32273916e-04 9.99887689e-01 -9.32107916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.338623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.67, Z:-0.93 [[ 9.87199565e-01 1.58744390e-01 1.54024995e-02 3.62290855e+01] [-1.58722362e-01 9.87319700e-01 -2.65002987e-03 -3.67265377e+00] [-1.56278686e-02 1.71387227e-04 9.99877863e-01 -9.32386369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.68, Z:-0.93 [[ 9.86815646e-01 1.61139644e-01 1.51293356e-02 3.62601273e+01] [-1.61118625e-01 9.86931607e-01 -2.60604036e-03 -3.68060504e+00] [-1.53515559e-02 1.34063641e-04 9.99882149e-01 -9.33033352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.398623853000004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.69, Z:-0.93 [[ 9.86417427e-01 1.63585559e-01 1.48466898e-02 3.62907946e+01] [-1.63565554e-01 9.86529146e-01 -2.56008426e-03 -3.68856170e+00] [-1.50654850e-02 9.69046844e-05 9.99886504e-01 -9.33855150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.70, Z:-0.93 [[ 9.85619584e-01 1.68334691e-01 1.47467779e-02 3.63226962e+01] [-1.68315447e-01 9.85729898e-01 -2.54544178e-03 -3.70014150e+00] [-1.49648260e-02 2.67267581e-05 9.99888020e-01 -9.34563255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.71, Z:-0.93 [[ 9.85203172e-01 1.70798854e-01 1.42289196e-02 3.63539206e+01] [-1.70781152e-01 9.85305918e-01 -2.45903352e-03 -3.70794905e+00] [-1.44398388e-02 -7.38366182e-06 9.99895740e-01 -9.34800366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.72, Z:-0.94 [[ 9.84762196e-01 1.73347983e-01 1.39245547e-02 3.63857125e+01] [-1.73331265e-01 9.84860637e-01 -2.40782411e-03 -3.71528273e+00] [-1.41311373e-02 -4.24265181e-05 9.99900150e-01 -9.35672578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.72, Z:-0.94 [[ 9.84264980e-01 1.76156269e-01 1.38353902e-02 3.64174520e+01] [-1.76140011e-01 9.84362211e-01 -2.39453720e-03 -3.72258543e+00] [-1.40408480e-02 -8.01066816e-05 9.99901419e-01 -9.36526150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.548623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.73, Z:-0.94 [[ 9.83300304e-01 1.81444686e-01 1.40832520e-02 3.64482786e+01] [-1.81428342e-01 9.83401140e-01 -2.44033457e-03 -3.73248842e+00] [-1.42922718e-02 -1.55519328e-04 9.99897848e-01 -9.37173773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.74, Z:-0.94 [[ 9.82809481e-01 1.84082911e-01 1.41069350e-02 3.64792909e+01] [-1.84066746e-01 9.82910701e-01 -2.44703511e-03 -3.74002171e+00] [-1.43163147e-02 -1.91648304e-04 9.99897498e-01 -9.37510906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.75, Z:-0.94 [[ 9.82287153e-01 1.86839426e-01 1.42470351e-02 3.65118738e+01] [-1.86823191e-01 9.82390439e-01 -2.47386931e-03 -3.74707827e+00] [-1.44583674e-02 -2.31626504e-04 9.99895446e-01 -9.38361301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.638623853000006 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.75, Z:-0.93 [[ 9.81465225e-01 1.91122272e-01 1.40815308e-02 3.65420864e+01] [-1.91106811e-01 9.81566194e-01 -2.44798980e-03 -3.75332245e+00] [-1.42898200e-02 -2.88459596e-04 9.99897854e-01 -9.33323844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.76, Z:-0.93 [[ 9.81139375e-01 1.92799317e-01 1.39266010e-02 3.65740661e+01] [-1.92784331e-01 9.81238161e-01 -2.42337497e-03 -3.75884267e+00] [-1.41325374e-02 -3.07161843e-04 9.99900084e-01 -9.33877006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.698623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.76, Z:-0.94 [[ 9.80776872e-01 1.94595554e-01 1.44671171e-02 3.66065472e+01] [-1.94579556e-01 9.80883506e-01 -2.51888269e-03 -3.76456553e+00] [-1.46807199e-02 -3.44543339e-04 9.99892173e-01 -9.40280092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.64, Y:-3.77, Z:-0.94 [[ 9.80545248e-01 1.95748302e-01 1.46157049e-02 3.66380589e+01] [-1.95732057e-01 9.80654104e-01 -2.54776260e-03 -3.76945945e+00] [-1.48316712e-02 -3.62565465e-04 9.99889939e-01 -9.41367849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.67, Y:-3.78, Z:-0.94 [[ 9.80409990e-01 1.96431916e-01 1.45173346e-02 3.66694521e+01] [-1.96415928e-01 9.80517398e-01 -2.53302018e-03 -3.77534449e+00] [-1.47320651e-02 -3.68037460e-04 9.99891410e-01 -9.42015166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.70, Y:-3.78, Z:-0.94 [[ 9.80425562e-01 1.96354693e-01 1.45103804e-02 3.67001659e+01] [-1.96338663e-01 9.80532867e-01 -2.53516239e-03 -3.78110684e+00] [-1.47256959e-02 -3.63410673e-04 9.99891505e-01 -9.42431801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.73, Y:-3.79, Z:-0.94 [[ 9.80516017e-01 1.95895249e-01 1.46079456e-02 3.67312040e+01] [-1.95878946e-01 9.80624762e-01 -2.55254672e-03 -3.78639867e+00] [-1.48249450e-02 -3.58576053e-04 9.99890040e-01 -9.43320004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:-3.79, Z:-0.94 [[ 9.80813212e-01 1.94378153e-01 1.49189876e-02 3.67620741e+01] [-1.94360968e-01 9.80926611e-01 -2.60724879e-03 -3.78988481e+00] [-1.51412242e-02 -3.42444817e-04 9.99885306e-01 -9.44019552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.79, Z:-0.94 [[ 9.81042573e-01 1.93231699e-01 1.47302816e-02 3.67922251e+01] [-1.93214811e-01 9.81153101e-01 -2.57465010e-03 -3.79465209e+00] [-1.49501655e-02 -3.20267214e-04 9.99888189e-01 -9.44605126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.80, Z:-0.95 [[ 9.81036177e-01 1.93264166e-01 1.47302696e-02 3.68235682e+01] [-1.93247281e-01 9.81146706e-01 -2.57471868e-03 -3.80018386e+00] [-1.49501564e-02 -3.20692386e-04 9.99888189e-01 -9.45219357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.80, Z:-0.95 [[ 9.81326921e-01 1.91796644e-01 1.45438014e-02 3.68545209e+01] [-1.91780015e-01 9.81434644e-01 -2.54266457e-03 -3.80490783e+00] [-1.47614651e-02 -2.94025257e-04 9.99891000e-01 -9.46154673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.81, Z:-0.95 [[ 9.81992037e-01 1.88350872e-01 1.46829531e-02 3.68851585e+01] [-1.88333540e-01 9.82101771e-01 -2.56679385e-03 -3.80854118e+00] [-1.49036121e-02 -2.44721424e-04 9.99888905e-01 -9.46437610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:-3.81, Z:-0.95 [[ 9.82382263e-01 1.86311629e-01 1.45968125e-02 3.69164304e+01] [-1.86294236e-01 9.82490678e-01 -2.55440602e-03 -3.81344710e+00] [-1.48171478e-02 -2.09898864e-04 9.99890198e-01 -9.47589120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:36.95, Y:-3.82, Z:-0.94 [[ 9.82773594e-01 1.84324490e-01 1.34367135e-02 3.69492638e+01] [-1.84309575e-01 9.82865431e-01 -2.35072294e-03 -3.81849206e+00] [-1.36397771e-02 -1.66286519e-04 9.99906960e-01 -9.42211990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.058623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:36.98, Y:-3.82, Z:-0.95 [[ 9.83609951e-01 1.79911567e-01 1.19705004e-02 3.69822542e+01] [-1.79899380e-01 9.83682784e-01 -2.09605671e-03 -3.82141149e+00] [-1.21522800e-02 -9.17833682e-05 9.99926154e-01 -9.45267425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.088623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:37.01, Y:-3.83, Z:-0.95 [[ 9.83974369e-01 1.77893735e-01 1.21762199e-02 3.70126624e+01] [-1.77880937e-01 9.84049701e-01 -2.13479613e-03 -3.82586032e+00] [-1.23617724e-02 -6.53327221e-05 9.99923588e-01 -9.51476069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.118623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.83, Z:-0.95 [[ 9.84325734e-01 1.75947979e-01 1.20481433e-02 3.70452591e+01] [-1.75935284e-01 9.84399465e-01 -2.11395464e-03 -3.83059246e+00] [-1.22321319e-02 -3.88735728e-05 9.99925184e-01 -9.52232144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.84, Z:-0.95 [[ 9.84619749e-01 1.74272778e-01 1.23672204e-02 3.70765753e+01] [-1.74259236e-01 9.84697415e-01 -2.17259959e-03 -3.83522987e+00] [-1.25565950e-02 -1.59179161e-05 9.99921163e-01 -9.53047133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.178623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.84, Z:-0.95 [[ 9.85263163e-01 1.70526405e-01 1.33133245e-02 3.71070425e+01] [-1.70510318e-01 9.85353106e-01 -2.34255887e-03 -3.83821249e+00] [-1.35177938e-02 3.79777606e-05 9.99908630e-01 -9.52960741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.84, Z:-0.95 [[ 9.85602262e-01 1.68508058e-01 1.39001926e-02 3.71380856e+01] [-1.68490320e-01 9.85700274e-01 -2.44592768e-03 -3.84270698e+00] [-1.41135822e-02 6.86639465e-05 9.99900396e-01 -9.53140701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.238623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.85, Z:-0.95 [[ 9.85975997e-01 1.66291687e-01 1.40857467e-02 3.71705279e+01] [-1.66273253e-01 9.86076602e-01 -2.47802901e-03 -3.84765398e+00] [-1.43017009e-02 1.01194189e-04 9.99897720e-01 -9.48332568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.85, Z:-0.95 [[ 9.86780967e-01 1.61377059e-01 1.48582555e-02 3.72024559e+01] [-1.61355938e-01 9.86892806e-01 -2.61738183e-03 -3.85313446e+00] [-1.50858908e-02 1.85314818e-04 9.99886184e-01 -9.53815848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.86, Z:-0.95 [[ 9.87129883e-01 1.59256020e-01 1.45641343e-02 3.72351065e+01] [-1.59235475e-01 9.87237294e-01 -2.56698897e-03 -3.85880682e+00] [-1.47870649e-02 2.14824684e-04 9.99890642e-01 -9.54721283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.27, Y:-3.86, Z:-0.96 [[ 9.87437162e-01 1.57358142e-01 1.43619982e-02 3.72664349e+01] [-1.57337921e-01 9.87541572e-01 -2.53421029e-03 -3.86460090e+00] [-1.45818489e-02 2.42686480e-04 9.99893650e-01 -9.55725152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.358623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.87, Z:-0.96 [[ 9.87953052e-01 1.54113119e-01 1.40681907e-02 3.72981033e+01] [-1.54093352e-01 9.88053169e-01 -2.48491447e-03 -3.87041107e+00] [-1.42830783e-02 2.87164178e-04 9.99897950e-01 -9.56297640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.33, Y:-3.88, Z:-0.96 [[ 9.88078855e-01 1.53308687e-01 1.40222101e-02 3.73297480e+01] [-1.53288931e-01 9.88178302e-01 -2.47934926e-03 -3.87572216e+00] [-1.42365495e-02 3.00342973e-04 9.99898610e-01 -9.56483715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.88, Z:-0.96 [[ 9.88153407e-01 1.52826974e-01 1.40271130e-02 3.73621732e+01] [-1.52807121e-01 9.88252913e-01 -2.48270230e-03 -3.88068383e+00] [-1.42417591e-02 3.09847991e-04 9.99898533e-01 -9.56781482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:37.39, Y:-3.89, Z:-0.95 [[ 9.88212631e-01 1.52471460e-01 1.37204168e-02 3.73948492e+01] [-1.52452396e-01 9.88307825e-01 -2.43096968e-03 -3.88573225e+00] [-1.39306488e-02 3.10604523e-04 9.99902916e-01 -9.50757764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.43, Y:-3.89, Z:-0.96 [[ 9.88214852e-01 1.52330145e-01 1.50643004e-02 3.74265624e+01] [-1.52307097e-01 9.88329604e-01 -2.67232286e-03 -3.89345875e+00] [-1.52955694e-02 3.46429282e-04 9.99882956e-01 -9.56943006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.46, Y:-3.90, Z:-0.96 [[ 9.88216018e-01 1.52283959e-01 1.54498400e-02 3.74577903e+01] [-1.52259656e-01 9.88336717e-01 -2.74416590e-03 -3.89970932e+00] [-1.56875366e-02 3.59441374e-04 9.99876878e-01 -9.57714004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.538623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.49, Y:-3.91, Z:-0.96 [[ 9.88231378e-01 1.52225488e-01 1.50381119e-02 3.74887973e+01] [-1.52202432e-01 9.88345727e-01 -2.67261767e-03 -3.90634313e+00] [-1.52696942e-02 3.52327434e-04 9.99883349e-01 -9.58144023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.52, Y:-3.91, Z:-0.96 [[ 9.88209998e-01 1.52403903e-01 1.46304365e-02 3.75207372e+01] [-1.52382064e-01 9.88318235e-01 -2.60265397e-03 -3.91250097e+00] [-1.48561818e-02 3.42552568e-04 9.99889582e-01 -9.58696823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.55, Y:-3.92, Z:-0.96 [[ 9.88156549e-01 1.52774875e-01 1.43691726e-02 3.75522075e+01] [-1.52753805e-01 9.88260961e-01 -2.55904574e-03 -3.91865487e+00] [-1.45914502e-02 3.33792016e-04 9.99893483e-01 -9.59751327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:37.58, Y:-3.92, Z:-0.96 [[ 9.88130019e-01 1.52996251e-01 1.38279367e-02 3.75843838e+01] [-1.52976727e-01 9.88226717e-01 -2.46505701e-03 -3.92423726e+00] [-1.40422810e-02 3.20444321e-04 9.99901351e-01 -9.55657085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.62, Y:-3.93, Z:-0.96 [[ 9.88027844e-01 1.53702022e-01 1.32916236e-02 3.76151819e+01] [-1.53684013e-01 9.88117199e-01 -2.37196355e-03 -3.93280873e+00] [-1.34982575e-02 3.00855980e-04 9.99908849e-01 -9.61684285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.94, Z:-0.96 [[ 9.88020553e-01 1.53777177e-01 1.29601761e-02 3.76470948e+01] [-1.53760024e-01 9.88105507e-01 -2.31564367e-03 -3.94112369e+00] [-1.31621145e-02 2.95146552e-04 9.99913332e-01 -9.62606929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.68, Y:-3.95, Z:-0.96 [[ 9.87976052e-01 1.54102135e-01 1.24841007e-02 3.76787085e+01] [-1.54086241e-01 9.88054884e-01 -2.23086957e-03 -3.94937139e+00] [-1.26787584e-02 2.80417563e-04 9.99919582e-01 -9.62767710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:37.71, Y:-3.96, Z:-0.96 [[ 9.87923459e-01 1.54461032e-01 1.22077183e-02 3.77096178e+01] [-1.54445832e-01 9.87998844e-01 -2.18389764e-03 -3.95683826e+00] [-1.23985386e-02 2.72092501e-04 9.99923098e-01 -9.63351633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:-3.97, Z:-0.96 [[ 9.87809864e-01 1.55157800e-01 1.25590601e-02 3.77419755e+01] [-1.55141739e-01 9.87889661e-01 -2.24907252e-03 -3.96578008e+00] [-1.27559268e-02 2.73221593e-04 9.99918603e-01 -9.63682076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.77, Y:-3.97, Z:-0.96 [[ 9.87758579e-01 1.55477697e-01 1.26362384e-02 3.77737083e+01] [-1.55461433e-01 9.87839365e-01 -2.26531643e-03 -3.97355548e+00] [-1.28347799e-02 2.73137998e-04 9.99917594e-01 -9.64295433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.98, Z:-0.96 [[ 9.87656452e-01 1.56138921e-01 1.24647659e-02 3.78050213e+01] [-1.56123115e-01 9.87735070e-01 -2.23713728e-03 -3.98197158e+00] [-1.26611906e-02 2.63484978e-04 9.99919809e-01 -9.64949426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.84, Y:-3.99, Z:-0.97 [[ 9.87551006e-01 1.56788408e-01 1.26651469e-02 3.78360305e+01] [-1.56772107e-01 9.87632182e-01 -2.27596170e-03 -3.99279130e+00] [-1.28653511e-02 2.62086498e-04 9.99917204e-01 -9.65660921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:-4.00, Z:-0.97 [[ 9.87484362e-01 1.57200676e-01 1.27507789e-02 3.78678802e+01] [-1.57184168e-01 9.87566646e-01 -2.29285176e-03 -4.00136266e+00] [-1.29526818e-02 2.59934686e-04 9.99916077e-01 -9.65966714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.90, Y:-4.01, Z:-0.97 [[ 9.87387651e-01 1.57796934e-01 1.28745894e-02 3.79002603e+01] [-1.57780138e-01 9.87471550e-01 -2.31648650e-03 -4.01000755e+00] [-1.30788252e-02 2.55915678e-04 9.99914436e-01 -9.66550155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.93, Y:-4.02, Z:-0.97 [[ 9.87260350e-01 1.58593961e-01 1.28435353e-02 3.79312045e+01] [-1.58577278e-01 9.87343858e-01 -2.31358523e-03 -4.01829353e+00] [-1.30479064e-02 2.47418092e-04 9.99914842e-01 -9.67022927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.96, Y:-4.03, Z:-0.97 [[ 9.86935332e-01 1.60593809e-01 1.29722284e-02 3.79628080e+01] [-1.60576930e-01 9.87020556e-01 -2.33921512e-03 -4.02834679e+00] [-1.31795196e-02 2.25613434e-04 9.99913121e-01 -9.67469011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:-4.04, Z:-0.97 [[ 9.86683145e-01 1.62155112e-01 1.27315126e-02 3.79950203e+01] [-1.62138953e-01 9.86765260e-01 -2.29816861e-03 -4.03645592e+00] [-1.29356741e-02 2.03290106e-04 9.99916310e-01 -9.67868340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.05, Z:-0.97 [[ 9.86048375e-01 1.66034479e-01 1.18807891e-02 3.80259240e+01] [-1.66020662e-01 9.86119937e-01 -2.14675208e-03 -4.04647611e+00] [-1.20723178e-02 1.44344928e-04 9.99927116e-01 -9.68311432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.06, Y:-4.05, Z:-0.97 [[ 9.85643594e-01 1.68449534e-01 1.14655872e-02 3.80582841e+01] [-1.68436804e-01 9.85710273e-01 -2.07390394e-03 -4.05487934e+00] [-1.16510953e-02 1.12903255e-04 9.99932117e-01 -9.69274233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.09, Y:-4.06, Z:-0.97 [[ 9.85222453e-01 1.70891313e-01 1.15272480e-02 3.80898826e+01] [-1.70878586e-01 9.85289882e-01 -2.08735228e-03 -4.06291511e+00] [-1.17143912e-02 8.67464830e-05 9.99931380e-01 -9.69743879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.138623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.12, Y:-4.07, Z:-0.97 [[ 9.84417077e-01 1.75447864e-01 1.18770922e-02 3.81213657e+01] [-1.75434654e-01 9.84488723e-01 -2.15323202e-03 -4.07160268e+00] [-1.20706433e-02 3.60248125e-05 9.99927146e-01 -9.69881480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.15, Y:-4.08, Z:-0.97 [[ 9.84000613e-01 1.77757348e-01 1.20465280e-02 3.81529845e+01] [-1.77743899e-01 9.84074349e-01 -2.18653479e-03 -4.07859256e+00] [-1.22433519e-02 1.03547110e-05 9.99925047e-01 -9.70476050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.198623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:38.19, Y:-4.09, Z:-0.97 [[ 9.83615751e-01 1.79884911e-01 1.18942341e-02 3.81853396e+01] [-1.79871930e-01 9.83687663e-01 -2.16102421e-03 -4.08598803e+00] [-1.20889470e-02 -1.38214005e-05 9.99926926e-01 -9.68357418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.228623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:38.22, Y:-4.10, Z:-0.97 [[ 9.82983521e-01 1.83273964e-01 1.24117212e-02 3.82161549e+01] [-1.83260065e-01 9.83061875e-01 -2.25775996e-03 -4.09532385e+00] [-1.26152786e-02 -5.52320024e-05 9.99920423e-01 -9.67510432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.258623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.25, Y:-4.10, Z:-0.97 [[ 9.82660339e-01 1.84967115e-01 1.28772821e-02 3.82486316e+01] [-1.84952267e-01 9.82744708e-01 -2.34488067e-03 -4.10295722e+00] [-1.30888066e-02 -7.74612810e-05 9.99914335e-01 -9.71858397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.28, Y:-4.11, Z:-0.97 [[ 9.82353758e-01 1.86559368e-01 1.32927052e-02 3.82796829e+01] [-1.86543654e-01 9.82443684e-01 -2.42335860e-03 -4.10925428e+00] [-1.35114345e-02 -9.90743635e-05 9.99908711e-01 -9.72683818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.318623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.31, Y:-4.12, Z:-0.97 [[ 9.82095363e-01 1.87918163e-01 1.32462266e-02 3.83114685e+01] [-1.87902651e-01 9.82184683e-01 -2.41723746e-03 -4.11607118e+00] [-1.34644837e-02 -1.15043381e-04 9.99909343e-01 -9.73178377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.34, Y:-4.12, Z:-0.97 [[ 9.81736827e-01 1.89821201e-01 1.26773306e-02 3.83418807e+01] [-1.89807119e-01 9.81818667e-01 -2.31591544e-03 -4.12482775e+00] [-1.28864497e-02 -1.32628118e-04 9.99916957e-01 -9.74067163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:-4.13, Z:-0.98 [[ 9.81597839e-01 1.90559187e-01 1.23644371e-02 3.83739702e+01] [-1.90545823e-01 9.81675699e-01 -2.26093983e-03 -4.13208074e+00] [-1.25687103e-02 -1.36658197e-04 9.99921001e-01 -9.75039677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.41, Y:-4.14, Z:-0.98 [[ 9.81442701e-01 1.91380769e-01 1.19843996e-02 3.84050993e+01] [-1.91368247e-01 9.81515859e-01 -2.19376777e-03 -4.13867029e+00] [-1.21827233e-02 -1.40376179e-04 9.99925778e-01 -9.75441947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.438623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.44, Y:-4.15, Z:-0.98 [[ 9.81033892e-01 1.93510055e-01 1.12410757e-02 3.84372521e+01] [-1.93499158e-01 9.81098280e-01 -2.05944187e-03 -4.14605917e+00] [-1.14271228e-02 -1.54756413e-04 9.99934696e-01 -9.75867170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.47, Y:-4.15, Z:-0.98 [[ 9.80775101e-01 1.94805471e-01 1.14468447e-02 3.84691291e+01] [-1.94794232e-01 9.80841883e-01 -2.09941730e-03 -4.15282572e+00] [-1.16365227e-02 -1.70723114e-04 9.99932279e-01 -9.76603807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.498623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.50, Y:-4.16, Z:-0.98 [[ 9.80282791e-01 1.97246842e-01 1.18039104e-02 3.85001876e+01] [-1.97235038e-01 9.80353835e-01 -2.16747515e-03 -4.15876239e+00] [-1.19995364e-02 -2.03406120e-04 9.99927982e-01 -9.76781218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:38.53, Y:-4.16, Z:-0.98 [[ 9.80061412e-01 1.98320916e-01 1.21836806e-02 3.85324229e+01] [-1.98308395e-01 9.80137115e-01 -2.23948335e-03 -4.16489497e+00] [-1.23858139e-02 -2.21294929e-04 9.99923268e-01 -9.77167090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.558623853 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:38.57, Y:-4.17, Z:-0.98 [[ 9.79884393e-01 1.99172182e-01 1.25307085e-02 3.85651287e+01] [-1.99158974e-01 9.79964482e-01 -2.30587301e-03 -4.17170818e+00] [-1.27389150e-02 -2.36114068e-04 9.99918829e-01 -9.77472195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.588623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:38.60, Y:-4.18, Z:-0.98 [[ 9.79635126e-01 2.00368790e-01 1.29370868e-02 3.85968512e+01] [-2.00354773e-01 9.79720512e-01 -2.38386809e-03 -4.17815040e+00] [-1.31523821e-02 -2.56686162e-04 9.99913471e-01 -9.77693720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:-4.18, Z:-0.98 [[ 9.79502531e-01 2.01008265e-01 1.30563912e-02 3.86296421e+01] [-2.00994028e-01 9.79589509e-01 -2.40711047e-03 -4.18414707e+00] [-1.32737529e-02 -2.66485857e-04 9.99911864e-01 -9.78476191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.66, Y:-4.19, Z:-0.98 [[ 9.79377874e-01 2.01600307e-01 1.32776452e-02 3.86623535e+01] [-2.01585603e-01 9.79467835e-01 -2.45054329e-03 -4.19027042e+00] [-1.34990567e-02 -2.76574232e-04 9.99908845e-01 -9.79176050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.678623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.69, Y:-4.20, Z:-0.98 [[ 9.79321812e-01 2.01859127e-01 1.34789058e-02 3.86940580e+01] [-2.01843960e-01 9.79414526e-01 -2.49044513e-03 -4.19623271e+00] [-1.37041552e-02 -2.81688488e-04 9.99906054e-01 -9.79439395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.73, Y:-4.20, Z:-0.98 [[ 9.79269804e-01 2.02102794e-01 1.36055979e-02 3.87252984e+01] [-2.02087329e-01 9.79364273e-01 -2.51638040e-03 -4.20124268e+00] [-1.38334040e-02 -2.85303607e-04 9.99904273e-01 -9.79509704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:38.76, Y:-4.21, Z:-0.98 [[ 9.79224979e-01 2.02349773e-01 1.31533508e-02 3.87581657e+01] [-2.02335312e-01 9.79313276e-01 -2.43491312e-03 -4.20636724e+00] [-1.33739552e-02 -2.77059593e-04 9.99910526e-01 -9.77681341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:-4.21, Z:-0.98 [[ 9.79114828e-01 2.02888453e-01 1.30548621e-02 3.87892944e+01] [-2.02874222e-01 9.79201816e-01 -2.41926945e-03 -4.21157053e+00] [-1.32741865e-02 -2.79752384e-04 9.99911855e-01 -9.80588617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:-4.21, Z:-0.98 [[ 9.78784807e-01 2.04435487e-01 1.36540795e-02 3.88227708e+01] [-2.04420033e-01 9.78879990e-01 -2.53288503e-03 -4.21424804e+00] [-1.38835168e-02 -3.12018005e-04 9.99903571e-01 -9.81081482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.86, Y:-4.22, Z:-0.98 [[ 9.78768219e-01 2.04514926e-01 1.36535054e-02 3.88556735e+01] [-2.04499438e-01 9.78863396e-01 -2.53597556e-03 -4.22049556e+00] [-1.38835615e-02 -3.10001896e-04 9.99903571e-01 -9.81728253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.858623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:38.89, Y:-4.22, Z:-0.98 [[ 9.78544764e-01 2.05551325e-01 1.40995596e-02 3.88888727e+01] [-2.05534905e-01 9.78646280e-01 -2.61954018e-03 -4.22459105e+00] [-1.43369315e-02 -3.34614324e-04 9.99897165e-01 -9.82112540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:-4.23, Z:-0.98 [[ 9.78361685e-01 2.06412021e-01 1.42299021e-02 3.89220607e+01] [-2.06395348e-01 9.78465102e-01 -2.64650301e-03 -4.22860763e+00] [-1.44697326e-02 -3.47748433e-04 9.99895247e-01 -9.82850741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:-4.23, Z:-0.98 [[ 9.78205788e-01 2.07143671e-01 1.43155547e-02 3.89549499e+01] [-2.07126834e-01 9.78310468e-01 -2.66518442e-03 -4.23302570e+00] [-1.45571331e-02 -3.58036702e-04 9.99893975e-01 -9.83199710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.99, Y:-4.24, Z:-0.98 [[ 9.78119216e-01 2.07551973e-01 1.43170511e-02 3.89877362e+01] [-2.07535137e-01 9.78223925e-01 -2.66818177e-03 -4.23519368e+00] [-1.45590683e-02 -3.61491303e-04 9.99893946e-01 -9.83467386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.978623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.02, Y:-4.24, Z:-0.98 [[ 9.78096329e-01 2.07676418e-01 1.40739378e-02 3.90193932e+01] [-2.07660123e-01 9.78197516e-01 -2.62558053e-03 -4.23917424e+00] [-1.43123621e-02 -3.54524969e-04 9.99897510e-01 -9.83370917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.24, Z:-0.98 [[ 9.78074012e-01 2.07775946e-01 1.41557023e-02 3.90522719e+01] [-2.07759435e-01 9.78176380e-01 -2.64336817e-03 -4.24305088e+00] [-1.43960020e-02 -3.55571004e-04 9.99896309e-01 -9.84250165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.038623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.09, Y:-4.25, Z:-0.99 [[ 9.78073559e-01 2.07787115e-01 1.40224354e-02 3.90853028e+01] [-2.07770877e-01 9.78174009e-01 -2.62107353e-03 -4.24665338e+00] [-1.42610072e-02 -3.49850994e-04 9.99898245e-01 -9.85317590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.12, Y:-4.25, Z:-0.99 [[ 9.78211930e-01 2.07191763e-01 1.31527087e-02 3.91181115e+01] [-2.07177391e-01 9.78300298e-01 -2.46091384e-03 -4.24759118e+00] [-1.33771799e-02 -3.17648594e-04 9.99910471e-01 -9.86515643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.15, Y:-4.25, Z:-0.99 [[ 9.78286036e-01 2.06843134e-01 1.31282342e-02 3.91513798e+01] [-2.06828753e-01 9.78374071e-01 -2.45866888e-03 -4.25129089e+00] [-1.33528827e-02 -3.10014875e-04 9.99910798e-01 -9.86895584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.25, Z:-0.99 [[ 9.78668896e-01 2.04999873e-01 1.34997730e-02 3.91837569e+01] [-2.04984452e-01 9.78761957e-01 -2.53110187e-03 -4.25158136e+00] [-1.37319398e-02 -2.90132888e-04 9.99905670e-01 -9.87688453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.158623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.25, Z:-0.98 [[ 9.78927792e-01 2.03766400e-01 1.34027130e-02 3.92149997e+01] [-2.03751052e-01 9.79019500e-01 -2.51522862e-03 -4.25466667e+00] [-1.36340365e-02 -2.68589686e-04 9.99907016e-01 -9.82925692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.188623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.25, Y:-4.26, Z:-0.99 [[ 9.79226983e-01 2.02297590e-01 1.37913224e-02 3.92472041e+01] [-2.02281164e-01 9.79324063e-01 -2.59034860e-03 -4.25922109e+00] [-1.40301952e-02 -2.53185513e-04 9.99901540e-01 -9.89166127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.218623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:39.28, Y:-4.26, Z:-0.99 [[ 9.79960090e-01 1.98724524e-01 1.36669332e-02 3.92806513e+01] [-1.98708015e-01 9.80055368e-01 -2.56912829e-03 -4.26082926e+00] [-1.39049000e-02 -1.98085970e-04 9.99903303e-01 -9.89400999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.31, Y:-4.26, Z:-0.99 [[ 9.80310062e-01 1.96988098e-01 1.37065866e-02 3.93115137e+01] [-1.96971283e-01 9.80405865e-01 -2.57949422e-03 -4.26440494e+00] [-1.39461475e-02 -1.71099802e-04 9.99902733e-01 -9.90072435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.278623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:39.34, Y:-4.27, Z:-0.99 [[ 9.80692918e-01 1.95121921e-01 1.29936867e-02 3.93418823e+01] [-1.95106608e-01 9.80778985e-01 -2.44813318e-03 -4.26789647e+00] [-1.32216193e-02 -1.34287266e-04 9.99912582e-01 -9.86472467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.37, Y:-4.27, Z:-0.99 [[ 9.81351682e-01 1.91823849e-01 1.23485613e-02 3.93728981e+01] [-1.91809758e-01 9.81429368e-01 -2.32664286e-03 -4.27005342e+00] [-1.25655463e-02 -8.53196660e-05 9.99921047e-01 -9.91711798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.40, Y:-4.27, Z:-0.99 [[ 9.81677982e-01 1.90194390e-01 1.15945796e-02 3.94044354e+01] [-1.90181863e-01 9.81746449e-01 -2.18372470e-03 -4.27389534e+00] [-1.17982695e-02 -6.13642963e-05 9.99930396e-01 -9.92318038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.368623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:39.44, Y:-4.28, Z:-0.99 [[ 9.82043647e-01 1.88321366e-01 1.11954745e-02 3.94357140e+01] [-1.88309531e-01 9.82107460e-01 -2.11155666e-03 -4.27825734e+00] [-1.13928102e-02 -3.45737485e-05 9.99935099e-01 -9.93480444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.398623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.47, Y:-4.28, Z:-0.99 [[ 9.82745433e-01 1.84625236e-01 1.11775056e-02 3.94664474e+01] [-1.84613195e-01 9.82808996e-01 -2.10854363e-03 -4.28154882e+00] [-1.13746435e-02 8.64658882e-06 9.99935307e-01 -9.93538672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428623853000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:39.50, Y:-4.29, Z:-0.99 [[ 9.83087733e-01 1.82767049e-01 1.16067077e-02 3.94975102e+01] [-1.82753936e-01 9.83156246e-01 -2.18956887e-03 -4.28559048e+00] [-1.18113882e-02 3.13667849e-05 9.99930243e-01 -9.93551355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.53, Y:-4.29, Z:-0.99 [[ 9.83420212e-01 1.80936010e-01 1.21180126e-02 3.95275811e+01] [-1.80921572e-01 9.83494869e-01 -2.28643680e-03 -4.28948686e+00] [-1.23317020e-02 5.61182800e-05 9.99923960e-01 -9.93619224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.56, Y:-4.29, Z:-0.99 [[ 9.83734404e-01 1.79162955e-01 1.29328124e-02 3.95574593e+01] [-1.79146353e-01 9.83819408e-01 -2.44042694e-03 -4.29379742e+00] [-1.31607859e-02 8.38657728e-05 9.99913390e-01 -9.93699583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:39.59, Y:-4.30, Z:-0.99 [[ 9.84251877e-01 1.76179712e-01 1.44551335e-02 3.95896853e+01] [-1.76158661e-01 9.84358009e-01 -2.72689301e-03 -4.29758794e+00] [-1.47094496e-02 1.37552608e-04 9.99891801e-01 -9.92943451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.62, Y:-4.30, Z:-0.99 [[ 9.84450855e-01 1.75007437e-01 1.51297912e-02 3.96203227e+01] [-1.74984192e-01 9.84567098e-01 -2.85704881e-03 -4.30271153e+00] [-1.53962994e-02 1.65149854e-04 9.99881456e-01 -9.93451110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.578623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:39.65, Y:-4.31, Z:-0.99 [[ 9.84709209e-01 1.73555057e-01 1.50471026e-02 3.96515618e+01] [-1.73531858e-01 9.84824150e-01 -2.84388928e-03 -4.30749109e+00] [-1.53123214e-02 1.89252295e-04 9.99882742e-01 -9.87888166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.68, Y:-4.32, Z:-1.00 [[ 9.85163313e-01 1.70973675e-01 1.48744382e-02 3.96838002e+01] [-1.70950679e-01 9.85275571e-01 -2.81341781e-03 -4.31504237e+00] [-1.51364410e-02 2.28880694e-04 9.99885411e-01 -9.95164175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.638623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.32, Z:-1.00 [[ 9.85410427e-01 1.69581508e-01 1.44361194e-02 3.97152791e+01] [-1.69559657e-01 9.85516135e-01 -2.73330010e-03 -4.32154388e+00] [-1.46905457e-02 2.45638970e-04 9.99892058e-01 -9.96234843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.75, Y:-4.33, Z:-1.00 [[ 9.85640741e-01 1.68284111e-01 1.38847868e-02 3.97478223e+01] [-1.68263735e-01 9.85738501e-01 -2.63126631e-03 -4.32862336e+00] [-1.41295693e-02 2.57177171e-04 9.99900140e-01 -9.97326931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.34, Z:-1.00 [[ 9.86119023e-01 1.65598703e-01 1.20972257e-02 3.97791667e+01] [-1.65583009e-01 9.86193187e-01 -2.29449030e-03 -4.33593115e+00] [-1.23101662e-02 2.59545503e-04 9.99924193e-01 -9.98189290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.728623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:39.81, Y:-4.34, Z:-1.00 [[ 9.86264801e-01 1.64777895e-01 1.14012332e-02 3.98114149e+01] [-1.64763881e-01 9.86330664e-01 -2.16422504e-03 -4.34279854e+00] [-1.16020024e-02 2.55987551e-04 9.99932662e-01 -9.99467443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.758623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.35, Z:-1.00 [[ 9.86310016e-01 1.64534413e-01 1.09990145e-02 3.98433206e+01] [-1.64521331e-01 9.86371311e-01 -2.09005825e-03 -4.34907869e+00] [-1.11929988e-02 2.51872894e-04 9.99937325e-01 -9.95143106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.87, Y:-4.36, Z:-1.00 [[ 9.86119292e-01 1.65597119e-01 1.20969371e-02 3.98747217e+01] [-1.65581343e-01 9.86193451e-01 -2.30123482e-03 -4.35789853e+00] [-1.23109980e-02 2.66264968e-04 9.99924181e-01 -9.99454975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.91, Y:-4.37, Z:-1.00 [[ 9.85863374e-01 1.67069814e-01 1.26919369e-02 3.99058395e+01] [-1.67052533e-01 9.85945033e-01 -2.41725470e-03 -4.36501948e+00] [-1.29174025e-02 2.62862659e-04 9.99916532e-01 -9.99222282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:39.94, Y:-4.37, Z:-1.00 [[ 9.85563179e-01 1.68812881e-01 1.29395558e-02 3.99384020e+01] [-1.68795037e-01 9.85648086e-01 -2.46683769e-03 -4.37244456e+00] [-1.31702824e-02 2.47091595e-04 9.99913238e-01 -9.99632589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.878623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.97, Y:-4.38, Z:-1.00 [[ 9.84773718e-01 1.73343887e-01 1.31385601e-02 3.99694193e+01] [-1.73325855e-01 9.84861341e-01 -2.50756664e-03 -4.38027566e+00] [-1.33743313e-02 1.92133549e-04 9.99910541e-01 -1.00026242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.908623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.00, Y:-4.39, Z:-1.00 [[ 9.84377692e-01 1.75592394e-01 1.29564609e-02 4.00012079e+01] [-1.75575021e-01 9.84462942e-01 -2.47529788e-03 -4.38687574e+00] [-1.31897991e-02 1.61797119e-04 9.99912998e-01 -1.00113997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.03, Y:-4.39, Z:-1.00 [[ 9.83969375e-01 1.77893678e-01 1.25741018e-02 4.00313734e+01] [-1.77877476e-01 9.84049705e-01 -2.40442217e-03 -4.39311180e+00] [-1.28012726e-02 1.29228306e-04 9.99918052e-01 -1.00178291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.06, Y:-4.40, Z:-1.00 [[ 9.83246956e-01 1.81924677e-01 1.13505571e-02 4.00632004e+01] [-1.81911726e-01 9.83312467e-01 -2.17185701e-03 -4.39995482e+00] [-1.15562587e-02 7.06723569e-05 9.99933222e-01 -1.00272804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:-4.41, Z:-1.00 [[ 9.82897548e-01 1.83840993e-01 1.07191133e-02 4.00926931e+01] [-1.83829523e-01 9.82955994e-01 -2.05410568e-03 -4.40652927e+00] [-1.09140455e-02 4.84859564e-05 9.99940439e-01 -1.00434941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.12, Y:-4.41, Z:-1.00 [[ 9.82586732e-01 1.85536379e-01 9.97829322e-03 4.01227783e+01] [-1.85526525e-01 9.82637396e-01 -1.91236527e-03 -4.41279948e+00] [-1.01598574e-02 2.78266768e-05 9.99948387e-01 -1.00489765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.058623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.42, Z:-1.01 [[ 9.82278662e-01 1.87168883e-01 9.82038559e-03 4.01512237e+01] [-1.87159419e-01 9.82327750e-01 -1.88221412e-03 -4.41847858e+00] [-9.99912920e-03 1.08811084e-05 9.99950007e-01 -1.00512784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.18, Y:-4.42, Z:-1.00 [[ 9.81676148e-01 1.90296047e-01 9.96768157e-03 4.01816141e+01] [-1.90286460e-01 9.81726751e-01 -1.91020895e-03 -4.42325678e+00] [-1.01490449e-02 -2.15082806e-05 9.99948497e-01 -1.00466753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.43, Z:-1.01 [[ 9.81355297e-01 1.91908299e-01 1.06294934e-02 4.02104001e+01] [-1.91897493e-01 9.81412861e-01 -2.03693201e-03 -4.42836215e+00] [-1.08228257e-02 -4.08191281e-05 9.99941431e-01 -1.00507020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.43, Z:-1.01 [[ 9.81126805e-01 1.93031179e-01 1.13646909e-02 4.02409069e+01] [-1.93018899e-01 9.81192622e-01 -2.17807795e-03 -4.43382766e+00] [-1.15713878e-02 -5.66294618e-05 9.99933048e-01 -1.00580515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.178623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.44, Z:-1.01 [[ 9.80912581e-01 1.94051231e-01 1.24349385e-02 4.02700131e+01] [-1.94036612e-01 9.80991393e-01 -2.38311188e-03 -4.43892990e+00] [-1.26610135e-02 -7.52089128e-05 9.99919843e-01 -1.00647136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.44, Z:-1.01 [[ 9.80899849e-01 1.94107733e-01 1.25568456e-02 4.02999382e+01] [-1.94092827e-01 9.80980215e-01 -2.40671674e-03 -4.44466657e+00] [-1.27851794e-02 -7.64455685e-05 9.99918263e-01 -1.00686920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.238623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.45, Z:-1.01 [[ 9.80938162e-01 1.93899621e-01 1.27772981e-02 4.03310294e+01] [-1.93884172e-01 9.81021371e-01 -2.44881169e-03 -4.45090444e+00] [-1.30096262e-02 -7.51830270e-05 9.99915368e-01 -1.00767030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.46, Z:-1.01 [[ 9.80968061e-01 1.93758741e-01 1.26179996e-02 4.03616188e+01] [-1.93743670e-01 9.81049206e-01 -2.41771380e-03 -4.45719018e+00] [-1.28473316e-02 -7.29575223e-05 9.99917467e-01 -1.00829880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.46, Z:-1.01 [[ 9.81154857e-01 1.92840212e-01 1.21572972e-02 4.03914304e+01] [-1.92826114e-01 9.81230172e-01 -2.33246029e-03 -4.46263058e+00] [-1.23788989e-02 -5.57396263e-05 9.99923377e-01 -1.00925292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.47, Z:-1.01 [[ 9.81254572e-01 1.92356400e-01 1.17677949e-02 4.04212227e+01] [-1.92343156e-01 9.81325131e-01 -2.25773162e-03 -4.46808664e+00] [-1.19823220e-02 -4.80453306e-05 9.99928208e-01 -1.01016830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.358623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.45, Y:-4.47, Z:-1.01 [[ 9.81352328e-01 1.91877230e-01 1.14340527e-02 4.04507529e+01] [-1.91864695e-01 9.81418935e-01 -2.19360692e-03 -4.47376775e+00] [-1.16424990e-02 -4.10897774e-05 9.99932223e-01 -1.01088779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.48, Z:-1.01 [[ 9.81643529e-01 1.90405437e-01 1.10341102e-02 4.04807004e+01] [-1.90393669e-01 9.81705541e-01 -2.11701064e-03 -4.47952561e+00] [-1.12353375e-02 -2.26749340e-05 9.99936881e-01 -1.01151616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.418623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:40.51, Y:-4.48, Z:-1.01 [[ 9.81862385e-01 1.89302161e-01 1.05332022e-02 4.05114798e+01] [-1.89291371e-01 9.81918883e-01 -2.02112690e-03 -4.48401132e+00] [-1.07253538e-02 -9.37580688e-06 9.99942482e-01 -1.00602604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.54, Y:-4.49, Z:-1.01 [[ 9.82051439e-01 1.88296575e-01 1.09257338e-02 4.05413279e+01] [-1.88284904e-01 9.82112214e-01 -2.09644647e-03 -4.49027204e+00] [-1.11250503e-02 1.66753044e-06 9.99938115e-01 -1.01245783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.57, Y:-4.49, Z:-1.01 [[ 9.82317962e-01 1.86884103e-01 1.12139681e-02 4.05702753e+01] [-1.86871714e-01 9.82381968e-01 -2.15184867e-03 -4.49476644e+00] [-1.14185463e-02 1.82261626e-05 9.99934806e-01 -1.01297693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.60, Y:-4.50, Z:-1.01 [[ 9.82809031e-01 1.84235525e-01 1.19866884e-02 4.06016488e+01] [-1.84221178e-01 9.82882124e-01 -2.29970413e-03 -4.50005798e+00] [-1.22051890e-02 5.19681129e-05 9.99925513e-01 -1.01324181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.538623853000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:40.63, Y:-4.51, Z:-1.01 [[ 9.83075614e-01 1.82761194e-01 1.26760577e-02 4.06319887e+01] [-1.82745024e-01 9.83157332e-01 -2.43230215e-03 -4.50609450e+00] [-1.29070895e-02 7.46504637e-05 9.99916697e-01 -1.01424401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:-4.51, Z:-1.02 [[ 9.83591362e-01 1.79987381e-01 1.23521525e-02 4.06620807e+01] [-1.79971814e-01 9.83668913e-01 -2.36954905e-03 -4.51369488e+00] [-1.25769173e-02 1.07628683e-04 9.99920902e-01 -1.01545819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:-4.52, Z:-1.02 [[ 9.83837433e-01 1.78670853e-01 1.18588446e-02 4.06933344e+01] [-1.78656389e-01 9.83908894e-01 -2.27660876e-03 -4.52063821e+00] [-1.20747863e-02 1.21154559e-04 9.99927090e-01 -1.01581828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:40.72, Y:-4.53, Z:-1.01 [[ 9.84014788e-01 1.77743117e-01 1.10581035e-02 4.07241319e+01] [-1.77730462e-01 9.84076912e-01 -2.12469108e-03 -4.52649028e+00] [-1.12596736e-02 1.25365583e-04 9.99936600e-01 -1.01156653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.658623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:40.75, Y:-4.53, Z:-1.02 [[ 9.84388515e-01 1.75700748e-01 1.04162469e-02 4.07540455e+01] [-1.75689389e-01 9.84443613e-01 -2.00289925e-03 -4.53367842e+00] [-1.06061187e-02 1.41606957e-04 9.99943744e-01 -1.01779791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.688623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.54, Z:-1.02 [[ 9.84543830e-01 1.74841132e-01 1.01992980e-02 4.07850524e+01] [-1.74830167e-01 9.84596646e-01 -1.96390142e-03 -4.54015274e+00] [-1.03855653e-02 1.50402050e-04 9.99946057e-01 -1.01794094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.718623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.82, Y:-4.55, Z:-1.02 [[ 9.84541792e-01 1.74852610e-01 1.01992327e-02 4.08154862e+01] [-1.74841642e-01 9.84594608e-01 -1.96424029e-03 -4.54602017e+00] [-1.03855621e-02 1.50626058e-04 9.99946057e-01 -1.01853911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:40.85, Y:-4.55, Z:-1.02 [[ 9.84669572e-01 1.74125739e-01 1.02986299e-02 4.08471863e+01] [-1.74114529e-01 9.84723414e-01 -1.98213745e-03 -4.55308212e+00] [-1.04864431e-02 1.58609334e-04 9.99945003e-01 -1.01920742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.88, Y:-4.56, Z:-1.02 [[ 9.84758905e-01 1.73585297e-01 1.08648212e-02 4.08790329e+01] [-1.73572765e-01 9.84818823e-01 -2.09314275e-03 -4.55987552e+00] [-1.10632193e-02 1.75403896e-04 9.99938785e-01 -1.01924973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:40.91, Y:-4.57, Z:-1.02 [[ 9.84715835e-01 1.73769129e-01 1.17904385e-02 4.09098779e+01] [-1.73754350e-01 9.84786400e-01 -2.27430036e-03 -4.56689527e+00] [-1.20062667e-02 1.90899598e-04 9.99927904e-01 -1.01926187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.94, Y:-4.57, Z:-1.02 [[ 9.84664008e-01 1.74023803e-01 1.23493484e-02 4.09401337e+01] [-1.74007594e-01 9.84741426e-01 -2.38337287e-03 -4.57375879e+00] [-1.25756786e-02 1.97941071e-04 9.99920903e-01 -1.01973782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.97, Y:-4.58, Z:-1.02 [[ 9.84333711e-01 1.75781213e-01 1.37153063e-02 4.09710991e+01] [-1.75761375e-01 9.84429239e-01 -2.64809667e-03 -4.58147758e+00] [-1.39672342e-02 1.95989720e-04 9.99902434e-01 -1.01983864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:-4.59, Z:-1.02 [[ 9.84082180e-01 1.77170031e-01 1.38940090e-02 4.10011760e+01] [-1.77149772e-01 9.84180241e-01 -2.68533891e-03 -4.58749061e+00] [-1.41499707e-02 1.81273638e-04 9.99899868e-01 -1.02035803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.59, Z:-1.02 [[ 9.83871756e-01 1.78357419e-01 1.36014192e-02 4.10328069e+01] [-1.78338106e-01 9.83965754e-01 -2.62961822e-03 -4.59390787e+00] [-1.38523426e-02 1.61555773e-04 9.99904039e-01 -1.02138287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.958623853000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.60, Z:-1.02 [[ 9.83699155e-01 1.79326450e-01 1.33415490e-02 4.10652854e+01] [-1.79307930e-01 9.83789613e-01 -2.58139334e-03 -4.60090283e+00] [-1.35881894e-02 1.47068919e-04 9.99907665e-01 -1.02227217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.10, Y:-4.61, Z:-1.02 [[ 9.83418604e-01 1.80868747e-01 1.32039985e-02 4.10967409e+01] [-1.80850710e-01 9.83507234e-01 -2.55742292e-03 -4.60852671e+00] [-1.34487859e-02 1.27064773e-04 9.99909553e-01 -1.02277715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.13, Y:-4.62, Z:-1.02 [[ 9.83366411e-01 1.81183970e-01 1.27620741e-02 4.11278121e+01] [-1.81167105e-01 9.83449213e-01 -2.47505383e-03 -4.61500516e+00] [-1.29992918e-02 1.21816782e-04 9.99915498e-01 -1.02339808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.16, Y:-4.62, Z:-1.02 [[ 9.83236150e-01 1.81896356e-01 1.26644613e-02 4.11592264e+01] [-1.81879815e-01 9.83317702e-01 -2.45549804e-03 -4.62200937e+00] [-1.28998352e-02 1.10924560e-04 9.99916788e-01 -1.02404967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:-4.63, Z:-1.02 [[ 9.83108807e-01 1.82572926e-01 1.28140966e-02 4.11909403e+01] [-1.82556020e-01 9.83192309e-01 -2.48672080e-03 -4.62930033e+00] [-1.30527291e-02 1.05426639e-04 9.99914804e-01 -1.02392270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:-4.64, Z:-1.02 [[ 9.82847533e-01 1.83943263e-01 1.32515536e-02 4.12222703e+01] [-1.83925277e-01 9.82936858e-01 -2.57394354e-03 -4.63652655e+00] [-1.34989000e-02 9.24983869e-05 9.99908881e-01 -1.02406836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.138623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.25, Y:-4.64, Z:-1.02 [[ 9.82647379e-01 1.84989468e-01 1.35287054e-02 4.12531956e+01] [-1.84970786e-01 9.82740500e-01 -2.63025365e-03 -4.64320623e+00] [-1.37817760e-02 8.21965700e-05 9.99905023e-01 -1.02453118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.28, Y:-4.65, Z:-1.03 [[ 9.82406068e-01 1.86267253e-01 1.35213634e-02 4.12846609e+01] [-1.86248684e-01 9.82499112e-01 -2.63091227e-03 -4.65031174e+00] [-1.37747804e-02 6.62880348e-05 9.99905121e-01 -1.02539563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.198623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.66, Z:-1.02 [[ 9.81882097e-01 1.89037974e-01 1.31222241e-02 4.13167575e+01] [-1.89020706e-01 9.81969777e-01 -2.55521084e-03 -4.65733969e+00] [-1.33686593e-02 2.85437178e-05 9.99910635e-01 -1.02161053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.66, Z:-1.03 [[ 9.81576117e-01 1.90625418e-01 1.30490378e-02 4.13478516e+01] [-1.90608447e-01 9.81662849e-01 -2.54366180e-03 -4.66415411e+00] [-1.32946422e-02 9.54083653e-06 9.99911622e-01 -1.02708059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.67, Z:-1.03 [[ 9.81332323e-01 1.91873648e-01 1.30910544e-02 4.13795759e+01] [-1.91856644e-01 9.81419637e-01 -2.55441039e-03 -4.67015569e+00] [-1.33379419e-02 -4.88027758e-06 9.99911046e-01 -1.02824329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.41, Y:-4.68, Z:-1.03 [[ 9.80943330e-01 1.93919604e-01 1.20569815e-02 4.14105296e+01] [-1.93905310e-01 9.81017424e-01 -2.35457507e-03 -4.67527347e+00] [-1.22847072e-02 -2.82080324e-05 9.99924540e-01 -1.02937617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.318623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.44, Y:-4.68, Z:-1.03 [[ 9.80865940e-01 1.94383604e-01 1.08176429e-02 4.14405349e+01] [-1.94372096e-01 9.80925590e-01 -2.11530612e-03 -4.68041802e+00] [-1.10224836e-02 -2.78161933e-05 9.99939250e-01 -1.03083982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:41.47, Y:-4.69, Z:-1.03 [[ 9.80870975e-01 1.94418339e-01 9.67672516e-03 4.14711864e+01] [-1.94409135e-01 9.80918707e-01 -1.89198172e-03 -4.68583339e+00] [-9.85991667e-03 -2.54538096e-05 9.99951390e-01 -1.03218422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.50, Y:-4.69, Z:-1.03 [[ 9.81188786e-01 1.92863633e-01 8.49616120e-03 4.15016386e+01] [-1.92856478e-01 9.81225570e-01 -1.66130879e-03 -4.69286898e+00] [-8.65705666e-03 -8.48217210e-06 9.99962527e-01 -1.03346145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.53, Y:-4.70, Z:-1.03 [[ 9.81480903e-01 1.91352552e-01 8.91280264e-03 4.15327052e+01] [-1.91344614e-01 9.81521370e-01 -1.74301262e-03 -4.69955607e+00] [-9.08163617e-03 5.31681682e-06 9.99958761e-01 -1.03350724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:-4.71, Z:-1.03 [[ 9.81811265e-01 1.89618324e-01 9.56724268e-03 4.15636651e+01] [-1.89609104e-01 9.81857877e-01 -1.86997397e-03 -4.70586255e+00] [-9.74825392e-03 2.19251975e-05 9.99952484e-01 -1.03389076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:-4.71, Z:-1.03 [[ 9.82629677e-01 1.85228701e-01 1.13686605e-02 4.15927445e+01] [-1.85215350e-01 9.82695437e-01 -2.22534688e-03 -4.71273430e+00] [-1.15841290e-02 8.10414415e-05 9.99932898e-01 -1.03391448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.498623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:-4.72, Z:-1.03 [[ 9.82983139e-01 1.83310266e-01 1.18951790e-02 4.16244874e+01] [-1.83295510e-01 9.83055103e-01 -2.32833916e-03 -4.72055926e+00] [-1.21204249e-02 1.08385231e-04 9.99926539e-01 -1.03390297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.66, Y:-4.73, Z:-1.03 [[ 9.83333480e-01 1.81377798e-01 1.25444075e-02 4.16558662e+01] [-1.81361202e-01 9.83413481e-01 -2.45762538e-03 -4.72804059e+00] [-1.27820981e-02 1.41596483e-04 9.99918296e-01 -1.03398433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.69, Y:-4.74, Z:-1.03 [[ 9.83849739e-01 1.78531676e-01 1.28891728e-02 4.16882597e+01] [-1.78513882e-01 9.83934147e-01 -2.52743960e-03 -4.73594183e+00] [-1.31333253e-02 1.85724510e-04 9.99913737e-01 -1.03442643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.72, Y:-4.74, Z:-1.04 [[ 9.84034654e-01 1.77489952e-01 1.31573989e-02 4.17195533e+01] [-1.77471278e-01 9.84122591e-01 -2.58284366e-03 -4.74309912e+00] [-1.34069223e-02 2.06547268e-04 9.99910102e-01 -1.03545781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:-4.75, Z:-1.04 [[ 9.84171230e-01 1.76747609e-01 1.29334204e-02 4.17516605e+01] [-1.76729471e-01 9.84256184e-01 -2.54117440e-03 -4.75107358e+00] [-1.31789456e-02 2.15234184e-04 9.99913131e-01 -1.03575799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:41.78, Y:-4.76, Z:-1.04 [[ 9.84243129e-01 1.76376781e-01 1.25177834e-02 4.17828522e+01] [-1.76359730e-01 9.84322704e-01 -2.46193982e-03 -4.75879485e+00] [-1.27557674e-02 2.15514458e-04 9.99918619e-01 -1.03635942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.678623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.81, Y:-4.77, Z:-1.04 [[ 9.84279710e-01 1.76232332e-01 1.16455135e-02 4.18134704e+01] [-1.76217541e-01 9.84348578e-01 -2.29229461e-03 -4.76686848e+00] [-1.18672210e-02 2.04115329e-04 9.99929561e-01 -1.03683094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:41.85, Y:-4.77, Z:-1.04 [[ 9.84221882e-01 1.76529892e-01 1.20201149e-02 4.18451882e+01] [-1.76514130e-01 9.84295257e-01 -2.36826874e-03 -4.77439452e+00] [-1.22494123e-02 2.09181802e-04 9.99924951e-01 -1.03785461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:-4.78, Z:-1.04 [[ 9.84173773e-01 1.76770745e-01 1.24132246e-02 4.18763521e+01] [-1.76753921e-01 9.84252029e-01 -2.44833380e-03 -4.78221036e+00] [-1.26505353e-02 2.15499803e-04 9.99919956e-01 -1.03807833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:-4.79, Z:-1.04 [[ 9.84048057e-01 1.77413859e-01 1.31812169e-02 4.19077362e+01] [-1.77394912e-01 9.84136308e-01 -2.60231410e-03 -4.79145341e+00] [-1.34338007e-02 2.22521326e-04 9.99909738e-01 -1.03879991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:-4.80, Z:-1.04 [[ 9.83907508e-01 1.78161149e-01 1.35875388e-02 4.19392716e+01] [-1.78141048e-01 9.84001299e-01 -2.68537621e-03 -4.79924581e+00] [-1.38485856e-02 2.21663411e-04 9.99904079e-01 -1.03990511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:41.97, Y:-4.81, Z:-1.04 [[ 9.83708664e-01 1.79265348e-01 1.34610108e-02 4.19716971e+01] [-1.79245690e-01 9.83800738e-01 -2.66273433e-03 -4.80705468e+00] [-1.37202884e-02 2.06526656e-04 9.99905851e-01 -1.03540276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.858623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.00, Y:-4.82, Z:-1.04 [[ 9.83442526e-01 1.80716094e-01 1.35089305e-02 4.20023327e+01] [-1.80696396e-01 9.83535285e-01 -2.67489437e-03 -4.81598379e+00] [-1.37699063e-02 1.89589813e-04 9.99905172e-01 -1.04135356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.03, Y:-4.82, Z:-1.04 [[ 9.82593225e-01 1.85329961e-01 1.27812618e-02 4.20327117e+01] [-1.85312690e-01 9.82676341e-01 -2.53291828e-03 -4.82481873e+00] [-1.30292692e-02 1.20298336e-04 9.99915108e-01 -1.04176571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.06, Y:-4.83, Z:-1.04 [[ 9.81999538e-01 1.88464162e-01 1.25764148e-02 4.20639551e+01] [-1.88447670e-01 9.82080065e-01 -2.49452825e-03 -4.83174027e+00] [-1.28211754e-02 7.96295370e-05 9.99917802e-01 -1.04223428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:-4.84, Z:-1.04 [[ 9.81359898e-01 1.91780385e-01 1.23706982e-02 4.20964947e+01] [-1.91764665e-01 9.81437865e-01 -2.45575290e-03 -4.83891689e+00] [-1.26120369e-02 3.77146227e-05 9.99920464e-01 -1.04261987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:-4.85, Z:-1.04 [[ 9.80724021e-01 1.95038840e-01 1.18425041e-02 4.21286272e+01] [-1.95024648e-01 9.80795519e-01 -2.35288393e-03 -4.84599978e+00] [-1.20739787e-02 -2.05039214e-06 9.99927107e-01 -1.04300369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.16, Y:-4.85, Z:-1.04 [[ 9.79483385e-01 2.01222885e-01 1.10294303e-02 4.21610582e+01] [-2.01210945e-01 9.79545479e-01 -2.19322726e-03 -4.85181954e+00] [-1.12451561e-02 -7.10124376e-05 9.99936769e-01 -1.04398442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.038623853000004 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:42.19, Y:-4.86, Z:-1.04 [[ 9.78849719e-01 2.04313892e-01 1.04432047e-02 4.21925113e+01] [-2.04303341e-01 9.78905421e-01 -2.07866163e-03 -4.85693692e+00] [-1.06476091e-02 -9.88842573e-05 9.99943308e-01 -1.03860990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.22, Y:-4.86, Z:-1.05 [[ 9.78317570e-01 2.06831087e-01 1.07533281e-02 4.22226715e+01] [-2.06820016e-01 9.78376658e-01 -2.14381373e-03 -4.86270102e+00] [-1.09642125e-02 -1.26672847e-04 9.99939883e-01 -1.04555616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.25, Y:-4.87, Z:-1.05 [[ 9.77327099e-01 2.11456727e-01 1.08532844e-02 4.22538628e+01] [-2.11445731e-01 9.77387344e-01 -2.16399966e-03 -4.86888196e+00] [-1.10654551e-02 -1.79945132e-04 9.99938760e-01 -1.04644383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.87, Z:-1.05 [[ 9.76818001e-01 2.13782397e-01 1.11211112e-02 4.22858612e+01] [-2.13771011e-01 9.76881283e-01 -2.21652559e-03 -4.87466953e+00] [-1.13378596e-02 -2.12229100e-04 9.99935702e-01 -1.04670877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.158623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.88, Z:-1.05 [[ 9.76382644e-01 2.15739979e-01 1.15409544e-02 4.23163573e+01] [-2.15727823e-01 9.76450820e-01 -2.30287433e-03 -4.87883076e+00] [-1.17659965e-02 -2.41218443e-04 9.99930749e-01 -1.04738913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.88, Z:-1.05 [[ 9.75844703e-01 2.18143108e-01 1.18616692e-02 4.23479849e+01] [-2.18130423e-01 9.75916753e-01 -2.36860739e-03 -4.88106134e+00] [-1.20926971e-02 -2.75997949e-04 9.99926843e-01 -1.04866317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.218623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.38, Y:-4.89, Z:-1.05 [[ 9.75739214e-01 2.18633419e-01 1.15071429e-02 4.23781505e+01] [-2.18621511e-01 9.75807027e-01 -2.29817662e-03 -4.88576280e+00] [-1.17312091e-02 -2.73287918e-04 9.99931150e-01 -1.04912622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:-4.89, Z:-1.05 [[ 9.75767949e-01 2.18530550e-01 1.10140215e-02 4.24091040e+01] [-2.18519634e-01 9.75830073e-01 -2.19971755e-03 -4.89095386e+00] [-1.12285189e-02 -2.60366072e-04 9.99936924e-01 -1.05033277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:-4.90, Z:-1.05 [[ 9.76222290e-01 2.16557159e-01 9.64559042e-03 4.24387666e+01] [-2.16548688e-01 9.76269918e-01 -1.92671188e-03 -4.89567033e+00] [-9.83394302e-03 -2.07840870e-04 9.99951624e-01 -1.05120054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.47, Y:-4.90, Z:-1.05 [[ 9.76684745e-01 2.14458851e-01 9.71130655e-03 4.24688963e+01] [-2.14450157e-01 9.76733007e-01 -1.94007357e-03 -4.90128864e+00] [-9.90141959e-03 -1.87750952e-04 9.99950962e-01 -1.05158018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.50, Y:-4.91, Z:-1.05 [[ 9.77223643e-01 2.11975243e-01 1.00223457e-02 4.24986464e+01] [-2.11965853e-01 9.77275022e-01 -2.00221134e-03 -4.90610126e+00] [-1.02190074e-02 -1.67786802e-04 9.99947771e-01 -1.05169474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.53, Y:-4.91, Z:-1.05 [[ 9.78389995e-01 2.06493827e-01 1.06450927e-02 4.25298310e+01] [-2.06482911e-01 9.78447896e-01 -2.12641477e-03 -4.91008134e+00] [-1.08547601e-02 -1.17566804e-04 9.99941078e-01 -1.05316830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.398623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.56, Y:-4.92, Z:-1.05 [[ 9.78913619e-01 2.03998720e-01 1.06136458e-02 4.25610431e+01] [-2.03987720e-01 9.78971151e-01 -2.12039542e-03 -4.91537671e+00] [-1.08230110e-02 -8.93694445e-05 9.99941426e-01 -1.05070724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:-4.92, Z:-1.05 [[ 9.79418214e-01 2.01521960e-01 1.13517188e-02 4.25915753e+01] [-2.01509206e-01 9.79483994e-01 -2.26816312e-03 -4.92132848e+00] [-1.15759116e-02 -6.59955840e-05 9.99932995e-01 -1.05344202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.458623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:-4.93, Z:-1.05 [[ 9.80087440e-01 1.98229329e-01 1.15647232e-02 4.26219716e+01] [-1.98215871e-01 9.80155667e-01 -2.31002062e-03 -4.92617213e+00] [-1.17931429e-02 -2.82894884e-05 9.99930458e-01 -1.05337051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.65, Y:-4.93, Z:-1.05 [[ 9.80311022e-01 1.97097839e-01 1.19474434e-02 4.26529333e+01] [-1.97083355e-01 9.80383824e-01 -2.38943386e-03 -4.93195477e+00] [-1.21840325e-02 -1.22538809e-05 9.99925772e-01 -1.05438812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.68, Y:-4.94, Z:-1.06 [[ 9.80447441e-01 1.96409616e-01 1.20862931e-02 4.26845809e+01] [-1.96394750e-01 9.80521934e-01 -2.41649210e-03 -4.93792938e+00] [-1.23254978e-02 -4.44101704e-06 9.99924038e-01 -1.05516121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.548623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:42.72, Y:-4.94, Z:-1.05 [[ 9.80506390e-01 1.96147320e-01 1.15520032e-02 4.27156497e+01] [-1.96133698e-01 9.80574438e-01 -2.31161554e-03 -4.94335492e+00] [-1.17810162e-02 8.16710932e-07 9.99930601e-01 -1.04992125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:-4.95, Z:-1.06 [[ 9.80551104e-01 1.95876487e-01 1.23261498e-02 4.27473070e+01] [-1.95860931e-01 9.80628575e-01 -2.46859503e-03 -4.94882575e+00] [-1.25709145e-02 6.37239228e-06 9.99920983e-01 -1.05563708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.78, Y:-4.95, Z:-1.06 [[ 9.80481184e-01 1.96225070e-01 1.23438372e-02 4.27776849e+01] [-1.96209468e-01 9.80558882e-01 -2.47442214e-03 -4.95395446e+00] [-1.25894029e-02 4.14662195e-06 9.99920750e-01 -1.05647391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.638623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.81, Y:-4.96, Z:-1.06 [[ 9.80474260e-01 1.96259698e-01 1.23432850e-02 4.28088799e+01] [-1.96244064e-01 9.80551952e-01 -2.47717336e-03 -4.96026596e+00] [-1.25894015e-02 6.50829728e-06 9.99920750e-01 -1.05708840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.97, Z:-1.06 [[ 9.80414903e-01 1.96593569e-01 1.17297212e-02 4.28403431e+01] [-1.96579482e-01 9.80485068e-01 -2.35343589e-03 -4.96621283e+00] [-1.19634868e-02 1.52111466e-06 9.99928435e-01 -1.05767551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:-4.97, Z:-1.06 [[ 9.80447001e-01 1.96474705e-01 1.10167137e-02 4.28721042e+01] [-1.96462252e-01 9.80508894e-01 -2.21209751e-03 -4.97211802e+00] [-1.12366070e-02 4.47599199e-06 9.99936867e-01 -1.05879592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.728623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:42.90, Y:-4.98, Z:-1.06 [[ 9.80472921e-01 1.96353926e-01 1.08621415e-02 4.29017032e+01] [-1.96341777e-01 9.80533087e-01 -2.18426095e-03 -4.97691633e+00] [-1.10795774e-02 8.91654478e-06 9.99938620e-01 -1.05548758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.93, Y:-4.98, Z:-1.06 [[ 9.80563243e-01 1.95873151e-01 1.13769617e-02 4.29328946e+01] [-1.95859790e-01 9.80629241e-01 -2.28784675e-03 -4.98234555e+00] [-1.16047091e-02 1.50890995e-05 9.99932663e-01 -1.05980763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.96, Y:-4.99, Z:-1.06 [[ 9.80594866e-01 1.95671209e-01 1.21031913e-02 4.29639857e+01] [-1.95656068e-01 9.80669556e-01 -2.43422169e-03 -4.98759463e+00] [-1.23455383e-02 1.89224756e-05 9.99923791e-01 -1.06048269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.99, Z:-1.06 [[ 9.80572166e-01 1.95773878e-01 1.22806984e-02 4.29957227e+01] [-1.95758307e-01 9.80649065e-01 -2.46921145e-03 -4.99385211e+00] [-1.25264625e-02 1.71912873e-05 9.99921541e-01 -1.06125984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848623853 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:43.03, Y:-5.00, Z:-1.06 [[ 9.80480421e-01 1.96264040e-01 1.17715657e-02 4.30273517e+01] [-1.96249745e-01 9.80551083e-01 -2.36881855e-03 -4.99852399e+00] [-1.20075354e-02 1.24134483e-05 9.99927907e-01 -1.05565886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.878623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:43.06, Y:-5.00, Z:-1.06 [[ 9.80420820e-01 1.96563100e-01 1.17458047e-02 4.30579576e+01] [-1.96548850e-01 9.80491177e-01 -2.36683509e-03 -5.00416535e+00] [-1.19818903e-02 1.18699949e-05 9.99928215e-01 -1.05733485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.09, Y:-5.01, Z:-1.06 [[ 9.80386657e-01 1.96718427e-01 1.19943058e-02 4.30872794e+01] [-1.96703575e-01 9.80460025e-01 -2.41731350e-03 -5.01004538e+00] [-1.22354675e-02 1.05790738e-05 9.99925144e-01 -1.06318643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.12, Y:-5.02, Z:-1.06 [[ 9.80322826e-01 1.97070256e-01 1.14223655e-02 4.31192506e+01] [-1.97056823e-01 9.80389369e-01 -2.30092503e-03 -5.01540177e+00] [-1.16518096e-02 4.79426814e-06 9.99932115e-01 -1.06145740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.15, Y:-5.02, Z:-1.06 [[ 9.80181650e-01 1.97803907e-01 1.08419699e-02 4.31496807e+01] [-1.97791815e-01 9.80241610e-01 -2.18713933e-03 -5.01985573e+00] [-1.10603747e-02 -6.59061181e-07 9.99938832e-01 -1.06490469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.18, Y:-5.03, Z:-1.07 [[ 9.80093978e-01 1.98264484e-01 1.03435069e-02 4.31793418e+01] [-1.98253501e-01 9.80148557e-01 -2.08681671e-03 -5.02524260e+00] [-1.05519150e-02 -5.35997357e-06 9.99944327e-01 -1.06558407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:43.21, Y:-5.03, Z:-1.07 [[ 9.79916918e-01 1.99127346e-01 1.05420090e-02 4.32084730e+01] [-1.99115986e-01 9.79973622e-01 -2.12696920e-03 -5.02978739e+00] [-1.07544284e-02 -1.48294114e-05 9.99942169e-01 -1.06621253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.058623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:43.24, Y:-5.03, Z:-1.07 [[ 9.79852420e-01 1.99446473e-01 1.05042659e-02 4.32366967e+01] [-1.99435213e-01 9.79908722e-01 -2.11935332e-03 -5.03433230e+00] [-1.07159193e-02 -1.82670332e-05 9.99942583e-01 -1.06703488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.088623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:43.27, Y:-5.04, Z:-1.07 [[ 9.79778167e-01 1.99799555e-01 1.07183100e-02 4.32659566e+01] [-1.99787857e-01 9.79836791e-01 -2.16220177e-03 -5.03966212e+00] [-1.09342014e-02 -2.29100972e-05 9.99940220e-01 -1.06801613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.118623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:43.30, Y:-5.05, Z:-1.07 [[ 9.79756894e-01 1.99902885e-01 1.07362121e-02 4.32956618e+01] [-1.99891158e-01 9.79815715e-01 -2.16534985e-03 -5.04571455e+00] [-1.09523690e-02 -2.45574365e-05 9.99940021e-01 -1.06860162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148623853000004 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:43.33, Y:-5.05, Z:-1.06 [[ 9.79668228e-01 2.00378629e-01 9.92816148e-03 4.33261699e+01] [-2.00368626e-01 9.79718533e-01 -2.00237688e-03 -5.05143149e+00] [-1.01280373e-02 -2.76270631e-05 9.99948710e-01 -1.06325505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.178623853000005 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:43.36, Y:-5.06, Z:-1.07 [[ 9.79665548e-01 2.00360867e-01 1.05326369e-02 4.33550884e+01] [-2.00349606e-01 9.79722166e-01 -2.12439616e-03 -5.05771720e+00] [-1.07447036e-02 -2.90119210e-05 9.99942274e-01 -1.06926649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208623853000006 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:43.38, Y:-5.06, Z:-1.07 [[ 9.79671847e-01 2.00308049e-01 1.09433858e-02 4.33836229e+01] [-2.00295892e-01 9.79732966e-01 -2.20709626e-03 -5.06344378e+00] [-1.11636949e-02 -2.96851379e-05 9.99937684e-01 -1.07014681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.238623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:43.41, Y:-5.07, Z:-1.07 [[ 9.79825608e-01 1.99520744e-01 1.15434632e-02 4.34132995e+01] [-1.99507164e-01 9.79893603e-01 -2.32787392e-03 -5.06971492e+00] [-1.17758249e-02 -2.20931282e-05 9.99930662e-01 -1.07024700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.268623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:43.44, Y:-5.08, Z:-1.07 [[ 9.79939561e-01 1.98947105e-01 1.17688338e-02 4.34420263e+01] [-1.98932948e-01 9.80010229e-01 -2.37341091e-03 -5.07612887e+00] [-1.20057608e-02 -1.54095551e-05 9.99927928e-01 -1.07065004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.298623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:43.47, Y:-5.08, Z:-1.07 [[ 9.80089159e-01 1.98201168e-01 1.18969363e-02 4.34718228e+01] [-1.98186649e-01 9.80161363e-01 -2.39900873e-03 -5.08241255e+00] [-1.21364036e-02 -6.57148061e-06 9.99926351e-01 -1.07129028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:43.50, Y:-5.09, Z:-1.07 [[ 9.80186011e-01 1.97701654e-01 1.22245909e-02 4.35003808e+01] [-1.97686285e-01 9.80262238e-01 -2.46516177e-03 -5.08891689e+00] [-1.24706714e-02 -3.16871565e-07 9.99922238e-01 -1.07150392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.358623853000005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:43.53, Y:-5.10, Z:-1.07 [[ 9.80164836e-01 1.97796971e-01 1.23795199e-02 4.35299628e+01] [-1.97781220e-01 9.80243010e-01 -2.49617012e-03 -5.09556369e+00] [-1.26286727e-02 -1.77836327e-06 9.99920255e-01 -1.07209014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388623853000006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.10, Z:-1.07 [[ 9.80018211e-01 1.98522114e-01 1.23804776e-02 4.35585655e+01] [-1.98506417e-01 9.80096409e-01 -2.49644306e-03 -5.10174097e+00] [-1.26296608e-02 -1.10445938e-05 9.99920243e-01 -1.07266379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.418623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:43.59, Y:-5.11, Z:-1.07 [[ 9.79566661e-01 2.00775411e-01 1.17640114e-02 4.35873784e+01] [-2.00761401e-01 9.79637297e-01 -2.37208185e-03 -5.10694587e+00] [-1.20007200e-02 -3.81471205e-05 9.99927988e-01 -1.07352574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.11, Z:-1.07 [[ 9.79234220e-01 2.02401216e-01 1.15796854e-02 4.36158767e+01] [-2.02387758e-01 9.79302683e-01 -2.33473703e-03 -5.11233266e+00] [-1.18125706e-02 -5.73321588e-05 9.99930228e-01 -1.07394500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.478623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.12, Z:-1.08 [[ 9.78917988e-01 2.03929516e-01 1.15032838e-02 4.36456943e+01] [-2.03916348e-01 9.78985570e-01 -2.31868815e-03 -5.11836366e+00] [-1.17343978e-02 -7.59020893e-05 9.99931147e-01 -1.07542999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:43.67, Y:-5.12, Z:-1.08 [[ 9.78397472e-01 2.06453087e-01 1.07475337e-02 4.36738291e+01] [-2.06441742e-01 9.78456495e-01 -2.16655682e-03 -5.12463948e+00] [-1.09632865e-02 -9.89858770e-05 9.99939896e-01 -1.07548858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.538623853000004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:43.70, Y:-5.13, Z:-1.08 [[ 9.78213756e-01 2.07311649e-01 1.09419933e-02 4.37021658e+01] [-2.07299946e-01 9.78274945e-01 -2.20557154e-03 -5.12997699e+00] [-1.11615186e-02 -1.10754195e-04 9.99937702e-01 -1.07645739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568623853000005 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:43.73, Y:-5.14, Z:-1.07 [[ 9.78100226e-01 2.07886825e-01 1.01496645e-02 4.37310907e+01] [-2.07876791e-01 9.78152880e-01 -2.04543100e-03 -5.13509917e+00] [-1.03531417e-02 -1.09243162e-04 9.99946399e-01 -1.07223590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.598623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:43.76, Y:-5.14, Z:-1.08 [[ 9.78114522e-01 2.07800905e-01 1.05245015e-02 4.37595690e+01] [-2.07790114e-01 9.78171136e-01 -2.12070129e-03 -5.14111656e+00] [-1.07354473e-02 -1.12598643e-04 9.99942367e-01 -1.07779650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:43.79, Y:-5.15, Z:-1.08 [[ 9.78229801e-01 2.07271681e-01 1.02423994e-02 4.37881820e+01] [-2.07261436e-01 9.78283415e-01 -2.06350098e-03 -5.14716540e+00] [-1.04476748e-02 -1.04276247e-04 9.99945416e-01 -1.07862881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.658623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:43.82, Y:-5.15, Z:-1.08 [[ 9.78311445e-01 2.06893148e-01 1.00965874e-02 4.38170760e+01] [-2.06883172e-01 9.78363540e-01 -2.03410203e-03 -5.15343340e+00] [-1.02989748e-02 -9.88287317e-05 9.99946959e-01 -1.07969621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.688623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:43.84, Y:-5.16, Z:-1.08 [[ 9.78395429e-01 2.06508699e-01 9.82552261e-03 4.38447109e+01] [-2.06499233e-01 9.78444760e-01 -1.97937598e-03 -5.15985100e+00] [-1.00224895e-02 -9.23504715e-05 9.99949769e-01 -1.08000913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.718623853000004 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:43.87, Y:-5.17, Z:-1.08 [[ 9.78611385e-01 2.05458200e-01 1.03288853e-02 4.38730782e+01] [-2.05447686e-01 9.78665888e-01 -2.08027875e-03 -5.16695786e+00] [-1.05359380e-02 -8.62611172e-05 9.99944492e-01 -1.08024674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748623853000005 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:43.90, Y:-5.17, Z:-1.08 [[ 9.78698024e-01 2.05025031e-01 1.07198043e-02 4.39023432e+01] [-2.05013684e-01 9.78756726e-01 -2.15862586e-03 -5.17343637e+00] [-1.09346529e-02 -8.50637050e-05 9.99940211e-01 -1.08049100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.778623853000006 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:43.93, Y:-5.18, Z:-1.08 [[ 9.78792301e-01 2.04523923e-01 1.16445796e-02 4.39316214e+01] [-2.04510502e-01 9.78861562e-01 -2.34459231e-03 -5.18019307e+00] [-1.18779566e-02 -8.65699202e-05 9.99929451e-01 -1.08028572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:43.96, Y:-5.19, Z:-1.08 [[ 9.78753726e-01 2.04674875e-01 1.22204277e-02 4.39599456e+01] [-2.04660104e-01 9.78830009e-01 -2.46061988e-03 -5.18657845e+00] [-1.24653485e-02 -9.26931382e-05 9.99922300e-01 -1.08015517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.838623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:43.99, Y:-5.19, Z:-1.08 [[ 9.78699966e-01 2.04895813e-01 1.28094360e-02 4.39897692e+01] [-2.04879611e-01 9.78783784e-01 -2.57862457e-03 -5.19324013e+00] [-1.30660176e-02 -1.00692477e-04 9.99914631e-01 -1.08027527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.868623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:44.02, Y:-5.20, Z:-1.08 [[ 9.78422628e-01 2.06167017e-01 1.35764991e-02 4.40203497e+01] [-2.06148925e-01 9.78516809e-01 -2.73405070e-03 -5.20128237e+00] [-1.38485037e-02 -1.23723624e-04 9.99904097e-01 -1.08055939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.898623853000004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:44.05, Y:-5.21, Z:-1.08 [[ 9.78257951e-01 2.06972413e-01 1.31833651e-02 4.40495865e+01] [-2.06955421e-01 9.78346770e-01 -2.65527195e-03 -5.20828743e+00] [-1.34474707e-02 -1.30827973e-04 9.99909570e-01 -1.08077898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928623853000005 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:44.08, Y:-5.21, Z:-1.08 [[ 9.78028797e-01 2.08064490e-01 1.29938459e-02 4.40782129e+01] [-2.08048076e-01 9.78115099e-01 -2.61740378e-03 -5.21489028e+00] [-1.32540657e-02 -1.43448363e-04 9.99912151e-01 -1.08129135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.958623853000006 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:44.11, Y:-5.22, Z:-1.08 [[ 9.77739779e-01 2.09480910e-01 1.19446205e-02 4.41086565e+01] [-2.09467147e-01 9.77812725e-01 -2.40584774e-03 -5.22101964e+00] [-1.21835811e-02 -1.49712536e-04 9.99925766e-01 -1.07743766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:44.14, Y:-5.23, Z:-1.08 [[ 9.77167375e-01 2.12187552e-01 1.09710470e-02 4.41383118e+01] [-2.12176112e-01 9.77228947e-01 -2.20975364e-03 -5.22631680e+00] [-1.11901069e-02 -1.68494926e-04 9.99937375e-01 -1.07719351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.018623853 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:44.17, Y:-5.23, Z:-1.08 [[ 9.76853156e-01 2.13632961e-01 1.09027238e-02 4.41674906e+01] [-2.13621752e-01 9.76913980e-01 -2.19609401e-03 -5.23218499e+00] [-1.11201814e-02 -1.83797603e-04 9.99938152e-01 -1.07808098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.048623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:44.20, Y:-5.24, Z:-1.08 [[ 9.76594961e-01 2.14786802e-01 1.13539823e-02 4.41961108e+01] [-2.14774724e-01 9.76660938e-01 -2.28692190e-03 -5.23789012e+00] [-1.15801916e-02 -2.05152015e-04 9.99932926e-01 -1.08447429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.078623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.24, Z:-1.08 [[ 9.75928879e-01 2.17805379e-01 1.11193241e-02 4.42258640e+01] [-2.17793997e-01 9.75992193e-01 -2.23920883e-03 -5.24391991e+00] [-1.13400852e-02 -2.36413469e-04 9.99935671e-01 -1.08493271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108623853000005 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:44.25, Y:-5.25, Z:-1.09 [[ 9.75654095e-01 2.19014401e-01 1.14794974e-02 4.42545402e+01] [-2.19002349e-01 9.75721592e-01 -2.31201916e-03 -5.24923820e+00] [-1.17071590e-02 -2.58305941e-04 9.99931436e-01 -1.08546320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.138623853000006 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:44.28, Y:-5.25, Z:-1.09 [[ 9.75097888e-01 2.21459044e-01 1.18322232e-02 4.42825183e+01] [-2.21446426e-01 9.75169628e-01 -2.38259071e-03 -5.25329514e+00] [-1.20660710e-02 -2.96944367e-04 9.99927158e-01 -1.08531957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:44.31, Y:-5.26, Z:-1.09 [[ 9.74866080e-01 2.22450189e-01 1.23304683e-02 4.43110759e+01] [-2.22436572e-01 9.74944003e-01 -2.48237977e-03 -5.25811192e+00] [-1.25737220e-02 -3.22759267e-04 9.99920896e-01 -1.08587870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.198623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:44.34, Y:-5.26, Z:-1.09 [[ 9.74666832e-01 2.23319866e-01 1.23614028e-02 4.43407118e+01] [-2.23306255e-01 9.74745159e-01 -2.48822456e-03 -5.26339329e+00] [-1.26048875e-02 -3.35188624e-04 9.99920499e-01 -1.08655791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.228623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:44.37, Y:-5.27, Z:-1.09 [[ 9.74442092e-01 2.24294780e-01 1.24281975e-02 4.43692301e+01] [-2.24281104e-01 9.74521282e-01 -2.50144022e-03 -5.26837826e+00] [-1.26726029e-02 -3.49901206e-04 9.99919638e-01 -1.08709754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.258623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:44.40, Y:-5.27, Z:-1.09 [[ 9.74380033e-01 2.24582638e-01 1.20909062e-02 4.43983740e+01] [-2.24569722e-01 9.74454986e-01 -2.43304835e-03 -5.27298211e+00] [-1.23284643e-02 -3.44537721e-04 9.99923942e-01 -1.08780700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288623853000004 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:44.43, Y:-5.28, Z:-1.09 [[ 9.74340132e-01 2.24769884e-01 1.18240062e-02 4.44270323e+01] [-2.24757548e-01 9.74411814e-01 -2.37923578e-03 -5.27722235e+00] [-1.20562319e-02 -3.39349733e-04 9.99927263e-01 -1.08818579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.318623853000005 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:44.45, Y:-5.28, Z:-1.09 [[ 9.74341272e-01 2.24770810e-01 1.17118695e-02 4.44547203e+01] [-2.24758712e-01 9.74411602e-01 -2.35620220e-03 -5.28137107e+00] [-1.19417870e-02 -3.36599662e-04 9.99928638e-01 -1.08894028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:44.48, Y:-5.28, Z:-1.09 [[ 9.74339261e-01 2.24756619e-01 1.21436135e-02 4.44839319e+01] [-2.24743624e-01 9.74414870e-01 -2.44206138e-03 -5.28427189e+00] [-1.23817870e-02 -3.49803426e-04 9.99923282e-01 -1.08942127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.378623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:44.51, Y:-5.29, Z:-1.09 [[ 9.74349968e-01 2.24706646e-01 1.22091632e-02 4.45124652e+01] [-2.24693509e-01 9.74426395e-01 -2.45501904e-03 -5.28786761e+00] [-1.24485900e-02 -3.51272002e-04 9.99922452e-01 -1.08981487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.408623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:44.54, Y:-5.29, Z:-1.09 [[ 9.74303479e-01 2.24897170e-01 1.24094341e-02 4.45407827e+01] [-2.24883620e-01 9.74382437e-01 -2.49488050e-03 -5.29199238e+00] [-1.26526262e-02 -3.59907703e-04 9.99919888e-01 -1.09064802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.438623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:44.57, Y:-5.29, Z:-1.09 [[ 9.74236667e-01 2.25172008e-01 1.26682093e-02 4.45691664e+01] [-2.25157917e-01 9.74318956e-01 -2.54635498e-03 -5.29427061e+00] [-1.29162444e-02 -3.71595234e-04 9.99916513e-01 -1.09091429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468623853000004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:44.60, Y:-5.30, Z:-1.09 [[ 9.74188007e-01 2.25370635e-01 1.28764538e-02 4.45976778e+01] [-2.25356105e-01 9.74273027e-01 -2.58736489e-03 -5.29782222e+00] [-1.31282977e-02 -3.81207617e-04 9.99913748e-01 -1.09099167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.498623853000005 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:44.63, Y:-5.30, Z:-1.09 [[ 9.74198400e-01 2.25312294e-01 1.31090831e-02 4.46265808e+01] [-2.25297237e-01 9.74286518e-01 -2.63347004e-03 -5.30112154e+00] [-1.33653561e-02 -3.87917904e-04 9.99910604e-01 -1.09145565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528623853000006 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:44.66, Y:-5.31, Z:-1.09 [[ 9.74206358e-01 2.25277874e-01 1.31092209e-02 4.46553501e+01] [-2.25262823e-01 9.74294478e-01 -2.63278392e-03 -5.30681599e+00] [-1.33653495e-02 -3.88145282e-04 9.99910604e-01 -1.09202156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.558623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:44.68, Y:-5.31, Z:-1.09 [[ 9.74372582e-01 2.24534399e-01 1.35046515e-02 4.46835774e+01] [-2.24518361e-01 9.74466085e-01 -2.71181373e-03 -5.30773879e+00] [-1.37687203e-02 -3.89725274e-04 9.99905131e-01 -1.09231741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.588623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:44.71, Y:-5.31, Z:-1.09 [[ 9.74562856e-01 2.23718350e-01 1.33169031e-02 4.47125213e+01] [-2.23702690e-01 9.74653764e-01 -2.67325478e-03 -5.31104759e+00] [-1.35774258e-02 -3.73772233e-04 9.99907753e-01 -1.09286481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.618623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:44.74, Y:-5.31, Z:-1.09 [[ 9.74753761e-01 2.22889472e-01 1.32434723e-02 4.47398671e+01] [-2.22873915e-01 9.74843656e-01 -2.65792886e-03 -5.31397977e+00] [-1.35027393e-02 -3.60798361e-04 9.99908769e-01 -1.09297804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648623853000004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:44.77, Y:-5.31, Z:-1.09 [[ 9.75187706e-01 2.20967653e-01 1.34994082e-02 4.47684663e+01] [-2.20951318e-01 9.75281077e-01 -2.70842606e-03 -5.31395151e+00] [-1.37641919e-02 -3.41488222e-04 9.99905211e-01 -1.09407304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.678623853000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:44.80, Y:-5.32, Z:-1.09 [[ 9.75406702e-01 2.20004965e-01 1.34007668e-02 4.47968681e+01] [-2.19988788e-01 9.75498698e-01 -2.68777240e-03 -5.31656002e+00] [-1.36637538e-02 -3.26347231e-04 9.99906593e-01 -1.09475473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708623853000006 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:44.83, Y:-5.32, Z:-1.10 [[ 9.75679739e-01 2.18813687e-01 1.30237463e-02 4.48261789e+01] [-2.18798310e-01 9.75766611e-01 -2.61155405e-03 -5.31912766e+00] [-1.32795806e-02 -3.01533308e-04 9.99911777e-01 -1.09556999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.738623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:44.85, Y:-5.32, Z:-1.10 [[ 9.76304524e-01 2.16040291e-01 1.24927334e-02 4.48540543e+01] [-2.16025921e-01 9.76384416e-01 -2.50460828e-03 -5.31976755e+00] [-1.27388065e-02 -2.53493856e-04 9.99918826e-01 -1.09691752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.768623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:44.88, Y:-5.32, Z:-1.10 [[ 9.76693905e-01 2.14280398e-01 1.23663994e-02 4.48820550e+01] [-2.14266187e-01 9.76772163e-01 -2.47844293e-03 -5.32274796e+00] [-1.26102365e-02 -2.29021140e-04 9.99920462e-01 -1.09763199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.798623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:44.91, Y:-5.33, Z:-1.10 [[ 9.77148205e-01 2.12206167e-01 1.22445219e-02 4.49094930e+01] [-2.12192080e-01 9.77224898e-01 -2.45337894e-03 -5.32578697e+00] [-1.24862738e-02 -2.00875739e-04 9.99922023e-01 -1.09846943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828623853 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:44.94, Y:-5.33, Z:-1.10 [[ 9.77573226e-01 2.10256855e-01 1.19433474e-02 4.49372410e+01] [-2.10243318e-01 9.77646166e-01 -2.39210897e-03 -5.32878767e+00] [-1.21793251e-02 -1.72547288e-04 9.99925814e-01 -1.09896881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.858623853000005 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:44.97, Y:-5.33, Z:-1.10 [[ 9.78518239e-01 2.05853263e-01 1.12467927e-02 4.49662083e+01] [-2.05840976e-01 9.78582864e-01 -2.25190192e-03 -5.32966404e+00] [-1.14694800e-02 -1.11523685e-04 9.99934217e-01 -1.09992487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888623853000006 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:44.99, Y:-5.33, Z:-1.10 [[ 9.79047397e-01 2.03321297e-01 1.12536392e-02 4.49936990e+01] [-2.03308832e-01 9.79112069e-01 -2.25283861e-03 -5.33291730e+00] [-1.14766240e-02 -8.23284682e-05 9.99934138e-01 -1.10093870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.918623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:45.02, Y:-5.34, Z:-1.10 [[ 9.80158176e-01 1.97855612e-01 1.19627027e-02 4.50220158e+01] [-1.97841131e-01 9.80231175e-01 -2.39384727e-03 -5.33511997e+00] [-1.21998503e-02 -2.03656626e-05 9.99925579e-01 -1.10100797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:45.05, Y:-5.34, Z:-1.10 [[ 9.80661497e-01 1.95322370e-01 1.23369634e-02 4.50500722e+01] [-1.95306779e-01 9.80739095e-01 -2.46788769e-03 -5.33964458e+00] [-1.25813760e-02 1.06698562e-05 9.99920851e-01 -1.10151571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.978623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:45.08, Y:-5.34, Z:-1.10 [[ 9.81137315e-01 1.92923136e-01 1.22569747e-02 4.50784456e+01] [-1.92907567e-01 9.81213872e-01 -2.45127886e-03 -5.34450272e+00] [-1.24996220e-02 4.05779876e-05 9.99921876e-01 -1.10255203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008623853 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:45.11, Y:-5.35, Z:-1.10 [[ 9.82014970e-01 1.88454294e-01 1.14707817e-02 4.51068529e+01] [-1.88440358e-01 9.82081957e-01 -2.29355426e-03 -5.34790885e+00] [-1.16974779e-02 9.07463976e-05 9.99931578e-01 -1.10342630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.038623853000004 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:45.13, Y:-5.35, Z:-1.10 [[ 9.82350983e-01 1.86698298e-01 1.14145127e-02 4.51342893e+01] [-1.86684386e-01 9.82417291e-01 -2.28180951e-03 -5.35263518e+00] [-1.16398246e-02 1.10626520e-04 9.99932249e-01 -1.10410320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068623853000005 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:45.16, Y:-5.36, Z:-1.11 [[ 9.82815726e-01 1.84258703e-01 1.10444108e-02 4.51628329e+01] [-1.84245534e-01 9.82877771e-01 -2.20702274e-03 -5.35718614e+00] [-1.12619690e-02 1.34213302e-04 9.99936573e-01 -1.10526292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.098623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:45.19, Y:-5.36, Z:-1.11 [[ 9.82941317e-01 1.83609556e-01 1.06722630e-02 4.51905433e+01] [-1.83597225e-01 9.82999243e-01 -2.13230268e-03 -5.36233135e+00] [-1.08823376e-02 1.36530534e-04 9.99940776e-01 -1.10631860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:45.22, Y:-5.37, Z:-1.11 [[ 9.83035893e-01 1.83113644e-01 1.04798029e-02 4.52186426e+01] [-1.83101734e-01 9.83091743e-01 -2.09305082e-03 -5.36714413e+00] [-1.06858739e-02 1.38673990e-04 9.99942895e-01 -1.10666346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.158623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:45.25, Y:-5.37, Z:-1.11 [[ 9.83019877e-01 1.83177370e-01 1.08614732e-02 4.52458047e+01] [-1.83164586e-01 9.83079870e-01 -2.16879483e-03 -5.37208063e+00] [-1.10749698e-02 1.42531177e-04 9.99938660e-01 -1.10712891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.188623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:45.27, Y:-5.38, Z:-1.11 [[ 9.82849243e-01 1.84034529e-01 1.17752623e-02 4.52740042e+01] [-1.84019576e-01 9.82919769e-01 -2.35031456e-03 -5.37658102e+00] [-1.20066771e-02 1.43126116e-04 9.99927907e-01 -1.10697777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.218623853000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:45.30, Y:-5.38, Z:-1.11 [[ 9.82706623e-01 1.84756402e-01 1.23598081e-02 4.53025829e+01] [-1.84739993e-01 9.82784337e-01 -2.46635694e-03 -5.38179900e+00] [-1.26027010e-02 1.40354440e-04 9.99920573e-01 -1.10742930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248623853000005 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:45.33, Y:-5.39, Z:-1.11 [[ 9.82531743e-01 1.85656999e-01 1.27614007e-02 4.53293982e+01] [-1.85639589e-01 9.82614605e-01 -2.54588863e-03 -5.38719701e+00] [-1.30122008e-02 1.32395205e-04 9.99915329e-01 -1.10802591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.278623853000006 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:45.36, Y:-5.39, Z:-1.11 [[ 9.82329259e-01 1.86746344e-01 1.24511282e-02 4.53576044e+01] [-1.86729869e-01 9.82408159e-01 -2.48314529e-03 -5.39364566e+00] [-1.26958083e-02 1.14268727e-04 9.99919398e-01 -1.10871551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:45.39, Y:-5.40, Z:-1.11 [[ 9.82251927e-01 1.87166894e-01 1.22354090e-02 4.53851218e+01] [-1.87151024e-01 9.82328124e-01 -2.43960895e-03 -5.39959743e+00] [-1.24758004e-02 1.06441274e-04 9.99922169e-01 -1.10931964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.338623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:45.41, Y:-5.41, Z:-1.11 [[ 9.82116672e-01 1.87885921e-01 1.20715582e-02 4.54126820e+01] [-1.87870537e-01 9.82190853e-01 -2.40618229e-03 -5.40565239e+00] [-1.23086618e-02 9.52616287e-05 9.99924241e-01 -1.11059164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.368623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:45.44, Y:-5.41, Z:-1.11 [[ 9.82021960e-01 1.88393208e-01 1.18687995e-02 4.54407044e+01] [-1.88378383e-01 9.82093678e-01 -2.36498062e-03 -5.41186441e+00] [-1.21018192e-02 8.66376561e-05 9.99926767e-01 -1.11089999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.398623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.47, Y:-5.42, Z:-1.11 [[ 9.81905068e-01 1.89001602e-01 1.18672737e-02 4.54685448e+01] [-1.88986832e-01 9.81976776e-01 -2.36410632e-03 -5.41810389e+00] [-1.21002070e-02 7.85695214e-05 9.99926787e-01 -1.11137407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428623853000005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:45.50, Y:-5.43, Z:-1.11 [[ 9.81744682e-01 1.89816639e-01 1.21253076e-02 4.54961410e+01] [-1.89801289e-01 9.81819555e-01 -2.41490233e-03 -5.42551226e+00] [-1.23632527e-02 6.94185071e-05 9.99923570e-01 -1.11261232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.458623853000006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:45.52, Y:-5.43, Z:-1.11 [[ 9.81728532e-01 1.89895049e-01 1.22049180e-02 4.55242123e+01] [-1.89879510e-01 9.81804393e-01 -2.43016892e-03 -5.43231591e+00] [-1.24443191e-02 6.83023134e-05 9.99922564e-01 -1.11288069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:45.55, Y:-5.44, Z:-1.11 [[ 9.81669405e-01 1.90234624e-01 1.16605210e-02 4.55521116e+01] [-1.90220472e-01 9.81738654e-01 -2.32123918e-03 -5.43873760e+00] [-1.18891643e-02 6.06196714e-05 9.99929320e-01 -1.10791463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.518623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:45.58, Y:-5.45, Z:-1.11 [[ 9.81588249e-01 1.90621468e-01 1.21641291e-02 4.55803985e+01] [-1.90606104e-01 9.81663615e-01 -2.42085026e-03 -5.44604263e+00] [-1.24025490e-02 5.77209050e-05 9.99923084e-01 -1.11379983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.548623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:45.61, Y:-5.45, Z:-1.11 [[ 9.81352591e-01 1.91816942e-01 1.23835731e-02 4.56069140e+01] [-1.91801121e-01 9.81430720e-01 -2.46397268e-03 -5.45332602e+00] [-1.26262507e-02 4.28427746e-05 9.99920285e-01 -1.11392688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.578623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:45.64, Y:-5.46, Z:-1.11 [[ 9.81162845e-01 1.92772203e-01 1.25837221e-02 4.56353461e+01] [-1.92755956e-01 9.81243536e-01 -2.50292875e-03 -5.46017471e+00] [-1.28301911e-02 3.01933090e-05 9.99917689e-01 -1.11488794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608623853000005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:45.66, Y:-5.47, Z:-1.12 [[ 9.80914743e-01 1.94028445e-01 1.26186429e-02 4.56633496e+01] [-1.94012219e-01 9.80995903e-01 -2.50925462e-03 -5.46698886e+00] [-1.28657038e-02 1.31939388e-05 9.99917233e-01 -1.11539169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.638623853000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:45.69, Y:-5.47, Z:-1.12 [[ 9.80240649e-01 1.97431738e-01 1.22057278e-02 4.56901721e+01] [-1.97416827e-01 9.80316637e-01 -2.42665181e-03 -5.47459285e+00] [-1.24445761e-02 -3.09133108e-05 9.99922563e-01 -1.11606822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:45.72, Y:-5.48, Z:-1.12 [[ 9.79845210e-01 1.99395088e-01 1.20400940e-02 4.57178733e+01] [-1.99380737e-01 9.79919178e-01 -2.39291447e-03 -5.48114785e+00] [-1.22754544e-02 -5.58770300e-05 9.99924652e-01 -1.11661223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.698623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.75, Y:-5.49, Z:-1.12 [[ 9.79001260e-01 2.03528997e-01 1.15100174e-02 4.57453808e+01] [-2.03516173e-01 9.79068913e-01 -2.28704453e-03 -5.48928327e+00] [-1.17345801e-02 -1.03455225e-04 9.99931142e-01 -1.11783068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.728623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:45.77, Y:-5.50, Z:-1.12 [[ 9.78505999e-01 2.05923334e-01 1.10267724e-02 4.57736470e+01] [-2.05911722e-01 9.78568119e-01 -2.19052075e-03 -5.49573992e+00] [-1.12415272e-02 -1.27103992e-04 9.99936804e-01 -1.11837212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.758623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:45.80, Y:-5.50, Z:-1.11 [[ 9.77964549e-01 2.08497813e-01 1.06772287e-02 4.58007416e+01] [-2.08487083e-01 9.78022821e-01 -2.12067128e-03 -5.50070592e+00] [-1.08847286e-02 -1.52122921e-04 9.99940748e-01 -1.11490361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.83, Y:-5.51, Z:-1.12 [[ 9.76906030e-01 2.13364817e-01 1.14045414e-02 4.58282944e+01] [-2.13352915e-01 9.76972572e-01 -2.26440464e-03 -5.50530882e+00] [-1.16250685e-02 -2.21081618e-04 9.99932402e-01 -1.11914474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.818623853000005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.86, Y:-5.51, Z:-1.12 [[ 9.76441478e-01 2.15454153e-01 1.18973905e-02 4.58555116e+01] [-2.15441367e-01 9.76513923e-01 -2.36133970e-03 -5.50979426e+00] [-1.21267279e-02 -2.57480046e-04 9.99926435e-01 -1.11985058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:45.88, Y:-5.51, Z:-1.12 [[ 9.76011959e-01 2.17395632e-01 1.18235205e-02 4.58816727e+01] [-2.17383154e-01 9.76083532e-01 -2.34603596e-03 -5.51421664e+00] [-1.20507616e-02 -2.80475023e-04 9.99927348e-01 -1.12006154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.878623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:45.91, Y:-5.52, Z:-1.12 [[ 9.75638593e-01 2.19051232e-01 1.20786201e-02 4.59093665e+01] [-2.19038355e-01 9.75713310e-01 -2.39509845e-03 -5.51873900e+00] [-1.23099197e-02 -3.08930608e-04 9.99924182e-01 -1.12085344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.908623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:45.94, Y:-5.52, Z:-1.12 [[ 9.74984189e-01 2.21944404e-01 1.21042692e-02 4.59362575e+01] [-2.21931704e-01 9.75059260e-01 -2.39948953e-03 -5.52213855e+00] [-1.23349330e-02 -3.46856725e-04 9.99923862e-01 -1.12158544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.938623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.53, Z:-1.12 [[ 9.74763924e-01 2.22904950e-01 1.21932718e-02 4.59636430e+01] [-2.22892158e-01 9.74840116e-01 -2.41553136e-03 -5.52664518e+00] [-1.24249244e-02 -3.63211835e-04 9.99922742e-01 -1.12203595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968623853000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:45.99, Y:-5.53, Z:-1.12 [[ 9.74596794e-01 2.23620724e-01 1.24443358e-02 4.59909514e+01] [-2.23607470e-01 9.74676165e-01 -2.46434277e-03 -5.53071611e+00] [-1.26802756e-02 -3.80905873e-04 9.99919530e-01 -1.12264142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.998623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:46.02, Y:-5.53, Z:-1.12 [[ 9.74388743e-01 2.24479238e-01 1.32532766e-02 4.60179442e+01] [-2.24464297e-01 9.74478782e-01 -2.62353843e-03 -5.53135350e+00] [-1.35039668e-02 -4.18541109e-04 9.99908730e-01 -1.12330584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028623853000006 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:46.04, Y:-5.53, Z:-1.12 [[ 9.74462896e-01 2.24168280e-01 1.30631800e-02 4.60448739e+01] [-2.24153752e-01 9.74550365e-01 -2.58480570e-03 -5.53482367e+00] [-1.33101583e-02 -4.09363557e-04 9.99911332e-01 -1.12338887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.058623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:46.07, Y:-5.54, Z:-1.12 [[ 9.74700330e-01 2.23147561e-01 1.28231317e-02 4.60730277e+01] [-2.23133487e-01 9.74784599e-01 -2.53618838e-03 -5.53853290e+00] [-1.30657355e-02 -3.89246443e-04 9.99914564e-01 -1.12479847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.088623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:46.10, Y:-5.54, Z:-1.13 [[ 9.75477250e-01 2.19752806e-01 1.23628155e-02 4.61002700e+01] [-2.19739459e-01 9.75555531e-01 -2.44458689e-03 -5.54062164e+00] [-1.25978179e-02 -3.31959501e-04 9.99920589e-01 -1.12581007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.118623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:46.13, Y:-5.54, Z:-1.13 [[ 9.75994606e-01 2.17434545e-01 1.25199261e-02 4.61284487e+01] [-2.17420689e-01 9.76074856e-01 -2.47387197e-03 -5.54482158e+00] [-1.27582903e-02 -3.07605256e-04 9.99918562e-01 -1.12684962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:46.16, Y:-5.55, Z:-1.13 [[ 9.76581575e-01 2.14786002e-01 1.24659733e-02 4.61560197e+01] [-2.14772060e-01 9.76661097e-01 -2.46232885e-03 -5.54938062e+00] [-1.27039049e-02 -2.72677786e-04 9.99919265e-01 -1.12731229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.178623853000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:46.18, Y:-5.55, Z:-1.13 [[ 9.77637007e-01 2.09924045e-01 1.25610060e-02 4.61839903e+01] [-2.09909500e-01 9.77717674e-01 -2.48017818e-03 -5.55295797e+00] [-1.28017666e-02 -2.11960528e-04 9.99918032e-01 -1.12778747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.21, Y:-5.56, Z:-1.13 [[ 9.78089029e-01 2.07793961e-01 1.27875804e-02 4.62102360e+01] [-2.07778716e-01 9.78172600e-01 -2.52401653e-03 -5.55683313e+00] [-1.30329362e-02 -1.88274158e-04 9.99915050e-01 -1.12794459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.238623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.56, Z:-1.13 [[ 9.78460731e-01 2.06028553e-01 1.29163988e-02 4.62377896e+01] [-2.06012862e-01 9.78545966e-01 -2.54822916e-03 -5.56097989e+00] [-1.31642979e-02 -1.67602111e-04 9.99913333e-01 -1.12781889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.268623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.26, Y:-5.56, Z:-1.13 [[ 9.79021143e-01 2.03297251e-01 1.37051213e-02 4.62647120e+01] [-2.03279331e-01 9.79117055e-01 -2.70284114e-03 -5.56362385e+00] [-1.39683982e-02 -1.39829263e-04 9.99902427e-01 -1.12759440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.298623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:46.29, Y:-5.57, Z:-1.13 [[ 9.79210246e-01 2.02368836e-01 1.39337276e-02 4.62916099e+01] [-2.02350237e-01 9.79309367e-01 -2.74674304e-03 -5.56725539e+00] [-1.42012851e-02 -1.29854145e-04 9.99899148e-01 -1.12793090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.32, Y:-5.57, Z:-1.13 [[ 9.79379272e-01 2.01537049e-01 1.41088598e-02 4.63192623e+01] [-2.01517910e-01 9.79480885e-01 -2.78003903e-03 -5.57125787e+00] [-1.43796393e-02 -1.20475328e-04 9.99896600e-01 -1.12848962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.358623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.35, Y:-5.58, Z:-1.13 [[ 9.79634089e-01 2.00324512e-01 1.36800008e-02 4.63470614e+01] [-2.00306413e-01 9.79729595e-01 -2.69462997e-03 -5.57578834e+00] [-1.39425020e-02 -1.00440502e-04 9.99902794e-01 -1.12924098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.37, Y:-5.58, Z:-1.13 [[ 9.79751664e-01 1.99760596e-01 1.35048477e-02 4.63737567e+01] [-1.99742917e-01 9.79844730e-01 -2.65923159e-03 -5.57986473e+00] [-1.37638635e-02 -9.21110864e-05 9.99905269e-01 -1.12936525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.418623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.40, Y:-5.59, Z:-1.13 [[ 9.79763141e-01 1.99704281e-01 1.35050874e-02 4.64017360e+01] [-1.99686613e-01 9.79856210e-01 -2.65801359e-03 -5.58523795e+00] [-1.37638604e-02 -9.25614103e-05 9.99905269e-01 -1.12991505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.43, Y:-5.59, Z:-1.13 [[ 9.79877465e-01 1.99130437e-01 1.36829006e-02 4.64281015e+01] [-1.99112254e-01 9.79972990e-01 -2.69230163e-03 -5.58860930e+00] [-1.39449922e-02 -8.63074907e-05 9.99902760e-01 -1.13014879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.478623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.45, Y:-5.59, Z:-1.13 [[ 9.80209324e-01 1.97515480e-01 1.33160037e-02 4.64548298e+01] [-1.97498122e-01 9.80299766e-01 -2.61921018e-03 -5.59171122e+00] [-1.35710098e-02 -6.25114792e-05 9.99907908e-01 -1.13088398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:46.48, Y:-5.60, Z:-1.13 [[ 9.80350543e-01 1.96821143e-01 1.32004194e-02 4.64822882e+01] [-1.96804046e-01 9.80439409e-01 -2.59478144e-03 -5.59672966e+00] [-1.34529192e-02 -5.41005421e-05 9.99909504e-01 -1.13148039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.538623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.51, Y:-5.60, Z:-1.13 [[ 9.80432483e-01 1.96415815e-01 1.31519653e-02 4.65100349e+01] [-1.96398819e-01 9.80520691e-01 -2.58431411e-03 -5.60180311e+00] [-1.34033743e-02 -4.92849536e-05 9.99910170e-01 -1.13172137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.54, Y:-5.61, Z:-1.13 [[ 9.80358692e-01 1.96753282e-01 1.36007772e-02 4.65370765e+01] [-1.96735153e-01 9.80453029e-01 -2.67148017e-03 -5.60561710e+00] [-1.38605457e-02 -5.67421788e-05 9.99903936e-01 -1.13167786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.598623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:46.57, Y:-5.61, Z:-1.13 [[ 9.80267150e-01 1.97203829e-01 1.36734728e-02 4.65651292e+01] [-1.97185567e-01 9.80362507e-01 -2.68446611e-03 -5.61018426e+00] [-1.39343471e-02 -6.47175473e-05 9.99902910e-01 -1.13187692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:46.59, Y:-5.61, Z:-1.13 [[ 9.79989837e-01 1.98586660e-01 1.35373055e-02 4.65922303e+01] [-1.98568904e-01 9.80083329e-01 -2.65690248e-03 -5.61242511e+00] [-1.37953128e-02 -8.43504855e-05 9.99904837e-01 -1.12873127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.62, Y:-5.62, Z:-1.13 [[ 9.79787179e-01 1.99547585e-01 1.40657360e-02 4.66198391e+01] [-1.99528539e-01 9.79888132e-01 -2.75888866e-03 -5.61625666e+00] [-1.43333773e-02 -1.03392000e-04 9.99897267e-01 -1.13308364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.65, Y:-5.62, Z:-1.13 [[ 9.79553857e-01 2.00700572e-01 1.39111762e-02 4.66477912e+01] [-2.00682073e-01 9.79652625e-01 -2.72757290e-03 -5.61968751e+00] [-1.41755458e-02 -1.19919134e-04 9.99899515e-01 -1.13341955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.67, Y:-5.62, Z:-1.13 [[ 9.79340204e-01 2.01731088e-01 1.40475323e-02 4.66749959e+01] [-2.01712345e-01 9.79440937e-01 -2.75327289e-03 -5.62316680e+00] [-1.43141489e-02 -1.37169847e-04 9.99897538e-01 -1.13419956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748623853000005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:46.70, Y:-5.63, Z:-1.13 [[ 9.79063600e-01 2.03131520e-01 1.31169126e-02 4.67024514e+01] [-2.03115318e-01 9.79151451e-01 -2.56980488e-03 -5.62536079e+00] [-1.33654524e-02 -1.48243471e-04 9.99910667e-01 -1.12935121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.778623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.73, Y:-5.63, Z:-1.14 [[ 9.78985542e-01 2.03526583e-01 1.28155424e-02 4.67303441e+01] [-2.03511167e-01 9.79069409e-01 -2.50959315e-03 -5.62969229e+00] [-1.30580744e-02 -1.51250568e-04 9.99914728e-01 -1.13562077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.76, Y:-5.63, Z:-1.14 [[ 9.78981672e-01 2.03570058e-01 1.24143723e-02 4.67584652e+01] [-2.03555606e-01 9.79060371e-01 -2.43015067e-03 -5.63322447e+00] [-1.26491259e-02 -1.47942108e-04 9.99919986e-01 -1.13617587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.79, Y:-5.64, Z:-1.14 [[ 9.79185080e-01 2.02576690e-01 1.26199943e-02 4.67867499e+01] [-2.02561685e-01 9.79266392e-01 -2.46942570e-03 -5.63534281e+00] [-1.28585844e-02 -1.38302517e-04 9.99917315e-01 -1.13675871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.81, Y:-5.64, Z:-1.14 [[ 9.79356930e-01 2.01725307e-01 1.29191407e-02 4.68130557e+01] [-2.01709521e-01 9.79442129e-01 -2.52700378e-03 -5.63926178e+00] [-1.31633112e-02 -1.31075017e-04 9.99913351e-01 -1.13708174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:-5.64, Z:-1.14 [[ 9.79515816e-01 2.00942587e-01 1.30706481e-02 4.68412245e+01] [-2.00926376e-01 9.79603012e-01 -2.55537125e-03 -5.64351122e+00] [-1.33175292e-02 -1.23211412e-04 9.99911310e-01 -1.13693988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:-5.65, Z:-1.14 [[ 9.79983297e-01 1.98606130e-01 1.37237657e-02 4.68687061e+01] [-1.98588044e-01 9.80079382e-01 -2.68199419e-03 -5.64578855e+00] [-1.39830403e-02 -9.70662798e-05 9.99902228e-01 -1.13739470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.958623853000006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.90, Y:-5.65, Z:-1.14 [[ 9.80267745e-01 1.97183787e-01 1.39176764e-02 4.68958632e+01] [-1.97165061e-01 9.80366538e-01 -2.71861230e-03 -5.64966908e+00] [-1.41804905e-02 -7.91115633e-05 9.99899449e-01 -1.13772149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:46.92, Y:-5.65, Z:-1.14 [[ 9.80528173e-01 1.95877906e-01 1.40124537e-02 4.69231157e+01] [-1.95858809e-01 9.80628289e-01 -2.73583418e-03 -5.65380970e+00] [-1.42768980e-02 -6.18999988e-05 9.99898078e-01 -1.13831596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.018623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:46.95, Y:-5.66, Z:-1.13 [[ 9.81115838e-01 1.93020462e-01 1.24424323e-02 4.69501988e+01] [-1.93005184e-01 9.81194731e-01 -2.42859758e-03 -5.65714310e+00] [-1.26772180e-02 -1.87183858e-05 9.99919641e-01 -1.13351099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.98, Y:-5.66, Z:-1.14 [[ 9.81368759e-01 1.91703690e-01 1.28473361e-02 4.69772696e+01] [-1.91687304e-01 9.81452849e-01 -2.50639272e-03 -5.66235482e+00] [-1.30895394e-02 -2.97571689e-06 9.99914328e-01 -1.13950654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:-5.67, Z:-1.14 [[ 9.81604937e-01 1.90473543e-01 1.30987402e-02 4.70036633e+01] [-1.90456413e-01 9.81692329e-01 -2.55447626e-03 -5.66673883e+00] [-1.33454929e-02 1.27474329e-05 9.99910945e-01 -1.14014435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.03, Y:-5.67, Z:-1.14 [[ 9.81850359e-01 1.89210480e-01 1.30102990e-02 4.70312231e+01] [-1.89193486e-01 9.81936553e-01 -2.53600042e-03 -5.67129793e+00] [-1.32551260e-02 2.85091122e-05 9.99912147e-01 -1.14020653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.138623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.06, Y:-5.68, Z:-1.14 [[ 9.82300857e-01 1.86860684e-01 1.29657716e-02 4.70581971e+01] [-1.86843614e-01 9.82386422e-01 -2.52641549e-03 -5.67536412e+00] [-1.32094857e-02 5.91284847e-05 9.99912749e-01 -1.14068637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.09, Y:-5.68, Z:-1.14 [[ 9.82453303e-01 1.86071347e-01 1.27656512e-02 4.70858316e+01] [-1.86054748e-01 9.82536233e-01 -2.48623020e-03 -5.68036234e+00] [-1.30053310e-02 6.74950588e-05 9.99915425e-01 -1.14133491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.11, Y:-5.69, Z:-1.14 [[ 9.82671678e-01 1.84928132e-01 1.25682024e-02 4.71125969e+01] [-1.84911960e-01 9.82752044e-01 -2.44693400e-03 -5.68525856e+00] [-1.28039336e-02 8.05217820e-05 9.99918023e-01 -1.14191987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.228623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:47.14, Y:-5.69, Z:-1.14 [[ 9.82766278e-01 1.84403892e-01 1.28704248e-02 4.71397472e+01] [-1.84386904e-01 9.82850547e-01 -2.50454953e-03 -5.69029200e+00] [-1.31115527e-02 8.82490411e-05 9.99914036e-01 -1.14260570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.258623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.17, Y:-5.70, Z:-1.14 [[ 9.82868600e-01 1.83848410e-01 1.30029295e-02 4.71665118e+01] [-1.83831034e-01 9.82954604e-01 -2.52940980e-03 -5.69583581e+00] [-1.32463174e-02 9.57354977e-05 9.99912259e-01 -1.14307105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.19, Y:-5.70, Z:-1.14 [[ 9.82955361e-01 1.83396675e-01 1.28225927e-02 4.71939781e+01] [-1.83379755e-01 9.83038987e-01 -2.49306494e-03 -5.70179998e+00] [-1.30623284e-02 9.91676273e-05 9.99914679e-01 -1.14365111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.318623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.22, Y:-5.71, Z:-1.14 [[ 9.83041206e-01 1.82899875e-01 1.33274941e-02 4.72213041e+01] [-1.82881562e-01 9.83131539e-01 -2.59045945e-03 -5.70764263e+00] [-1.35764745e-02 1.09175444e-04 9.99907829e-01 -1.14385046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.25, Y:-5.71, Z:-1.14 [[ 9.83049016e-01 1.82835282e-01 1.36342429e-02 4.72476786e+01] [-1.82816123e-01 9.83143554e-01 -2.64908681e-03 -5.71288993e+00] [-1.38887645e-02 1.11622751e-04 9.99903540e-01 -1.14438737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.27, Y:-5.72, Z:-1.14 [[ 9.83050022e-01 1.82813723e-01 1.38490633e-02 4.72747055e+01] [-1.82793972e-01 9.83147563e-01 -2.68953473e-03 -5.71830195e+00] [-1.41073567e-02 1.12421886e-04 9.99900480e-01 -1.14442084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.30, Y:-5.72, Z:-1.14 [[ 9.83037065e-01 1.82888614e-01 1.37798138e-02 4.73010360e+01] [-1.82869079e-01 9.83133634e-01 -2.67524785e-03 -5.72364702e+00] [-1.40366708e-02 1.09965932e-04 9.99901475e-01 -1.14466743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.33, Y:-5.73, Z:-1.14 [[ 9.82846488e-01 1.83906077e-01 1.38324456e-02 4.73274576e+01] [-1.83886517e-01 9.82943816e-01 -2.68382513e-03 -5.72938025e+00] [-1.40900886e-02 9.41878673e-05 9.99900725e-01 -1.14485545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.35, Y:-5.73, Z:-1.15 [[ 9.82733884e-01 1.84506716e-01 1.38342263e-02 4.73546678e+01] [-1.84487227e-01 9.82831249e-01 -2.68294952e-03 -5.73453979e+00] [-1.40917321e-02 8.43873491e-05 9.99900703e-01 -1.14555033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.498623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.38, Y:-5.74, Z:-1.15 [[ 9.82581014e-01 1.85317196e-01 1.38595848e-02 4.73820220e+01] [-1.85297731e-01 9.82678753e-01 -2.68686796e-03 -5.73978108e+00] [-1.41174424e-02 7.19158351e-05 9.99900341e-01 -1.14637563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.41, Y:-5.75, Z:-1.15 [[ 9.82267847e-01 1.86939552e-01 1.42646695e-02 4.74097356e+01] [-1.86919119e-01 9.82371417e-01 -2.76431951e-03 -5.74603762e+00] [-1.45299642e-02 4.89627290e-05 9.99894433e-01 -1.14675251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:-5.75, Z:-1.15 [[ 9.82122125e-01 1.87669546e-01 1.47062492e-02 4.74361437e+01] [-1.87647926e-01 9.82232223e-01 -2.84882676e-03 -5.75136022e+00] [-1.49795899e-02 3.82986320e-05 9.99887799e-01 -1.14678670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.46, Y:-5.76, Z:-1.15 [[ 9.81973624e-01 1.88432935e-01 1.48603719e-02 4.74632435e+01] [-1.88410967e-01 9.82086060e-01 -2.87736038e-03 -5.75644296e+00] [-1.51363535e-02 2.56349725e-05 9.99885439e-01 -1.14670261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.49, Y:-5.76, Z:-1.15 [[ 9.81845889e-01 1.89080998e-01 1.50674309e-02 4.74907391e+01] [-1.89058507e-01 9.81961494e-01 -2.91633870e-03 -5.76191474e+00] [-1.53470612e-02 1.47691866e-05 9.99882227e-01 -1.14706356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.52, Y:-5.77, Z:-1.15 [[ 9.81702430e-01 1.89851438e-01 1.47231402e-02 4.75172369e+01] [-1.89830065e-01 9.81812829e-01 -2.84867673e-03 -5.76806062e+00] [-1.49961933e-02 1.65819988e-06 9.99887551e-01 -1.14805111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.678623853000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:47.54, Y:-5.77, Z:-1.14 [[ 9.81648773e-01 1.90195320e-01 1.38356723e-02 4.75440763e+01] [-1.90176496e-01 9.81746271e-01 -2.67585237e-03 -5.77378548e+00] [-1.40920543e-02 -4.47248886e-06 9.99900702e-01 -1.14422737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:-5.78, Z:-1.15 [[ 9.81605036e-01 1.90406959e-01 1.40264956e-02 4.75709388e+01] [-1.90387652e-01 9.81705246e-01 -2.71145986e-03 -5.78007719e+00] [-1.42861651e-02 -8.88890323e-06 9.99897947e-01 -1.14953016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.738623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.60, Y:-5.79, Z:-1.15 [[ 9.81460988e-01 1.91184681e-01 1.35183557e-02 4.75968809e+01] [-1.91166833e-01 9.81554083e-01 -2.61245207e-03 -5.78682477e+00] [-1.37684580e-02 -2.02414449e-05 9.99905210e-01 -1.14987009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:-5.79, Z:-1.15 [[ 9.81373082e-01 1.91610130e-01 1.38719956e-02 4.76232295e+01] [-1.91591398e-01 9.81471119e-01 -2.67933175e-03 -5.79254513e+00] [-1.41283501e-02 -2.83309681e-05 9.99900189e-01 -1.15103754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.798623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.65, Y:-5.80, Z:-1.15 [[ 9.81324995e-01 1.91878611e-01 1.35592505e-02 4.76507559e+01] [-1.91860765e-01 9.81418666e-01 -2.61710509e-03 -5.79833276e+00] [-1.38094680e-02 -3.32575334e-05 9.99904644e-01 -1.15083585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.68, Y:-5.80, Z:-1.15 [[ 9.81117645e-01 1.92890295e-01 1.41950678e-02 4.76775178e+01] [-1.92870858e-01 9.81220328e-01 -2.73876070e-03 -5.80461168e+00] [-1.44567694e-02 -5.07684521e-05 9.99895494e-01 -1.15079752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.858623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:-5.81, Z:-1.15 [[ 9.81034012e-01 1.93291481e-01 1.45145237e-02 4.77046058e+01] [-1.93271223e-01 9.81141376e-01 -2.79905751e-03 -5.81016033e+00] [-1.47818337e-02 -5.92691233e-05 9.99890741e-01 -1.15116156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:47.73, Y:-5.82, Z:-1.15 [[ 9.80885360e-01 1.94022918e-01 1.47992736e-02 4.77322468e+01] [-1.94001958e-01 9.80996994e-01 -2.85282266e-03 -5.81613191e+00] [-1.50715558e-02 -7.27960573e-05 9.99886415e-01 -1.15194591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.76, Y:-5.82, Z:-1.15 [[ 9.80694671e-01 1.94972100e-01 1.49613486e-02 4.77586392e+01] [-1.94950805e-01 9.80808785e-01 -2.88295669e-03 -5.82181935e+00] [-1.52363183e-02 -8.94266941e-05 9.99883917e-01 -1.15257301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:47.79, Y:-5.83, Z:-1.15 [[ 9.80195687e-01 1.97431844e-01 1.53974952e-02 4.77858274e+01] [-1.97409616e-01 9.80316607e-01 -2.96554071e-03 -5.82781415e+00] [-1.56799124e-02 -1.32803395e-04 9.99877054e-01 -1.15241975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.81, Y:-5.83, Z:-1.15 [[ 9.79929992e-01 1.98759099e-01 1.52325756e-02 4.78135311e+01] [-1.98737521e-01 9.80048365e-01 -2.93269770e-03 -5.83354380e+00] [-1.55115612e-02 -1.53445893e-04 9.99879677e-01 -1.15318204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:47.84, Y:-5.84, Z:-1.15 [[ 9.79656338e-01 2.00113700e-01 1.50985704e-02 4.78402632e+01] [-2.00092678e-01 9.79772666e-01 -2.90582160e-03 -5.83855206e+00] [-1.53746613e-02 -1.74406828e-04 9.99881788e-01 -1.15388086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.038623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:47.87, Y:-5.84, Z:-1.16 [[ 9.79129721e-01 2.02714073e-01 1.45600218e-02 4.78681475e+01] [-2.02694830e-01 9.79237949e-01 -2.80090686e-03 -5.84197562e+00] [-1.48255091e-02 -2.08789977e-04 9.99890074e-01 -1.15509063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:47.90, Y:-5.85, Z:-1.16 [[ 9.78935728e-01 2.03682050e-01 1.40876635e-02 4.78957299e+01] [-2.03664149e-01 9.79037065e-01 -2.70905570e-03 -5.84664455e+00] [-1.43441307e-02 -2.17160584e-04 9.99897094e-01 -1.15581795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:-5.85, Z:-1.16 [[ 9.78808160e-01 2.04299750e-01 1.40070794e-02 4.79225453e+01] [-2.04282131e-01 9.78908352e-01 -2.69258307e-03 -5.85179143e+00] [-1.42617411e-02 -2.25873749e-04 9.99898271e-01 -1.15670234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:-5.86, Z:-1.16 [[ 9.78660743e-01 2.04988622e-01 1.42412893e-02 4.79496659e+01] [-2.04970500e-01 9.78764326e-01 -2.73628533e-03 -5.85748596e+00] [-1.44997733e-02 -2.41149162e-04 9.99894844e-01 -1.15741492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.158623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.98, Y:-5.86, Z:-1.16 [[ 9.78648142e-01 2.05033250e-01 1.44631007e-02 4.79762758e+01] [-2.05014577e-01 9.78754977e-01 -2.77802718e-03 -5.86202766e+00] [-1.47254198e-02 -2.46435334e-04 9.99891545e-01 -1.15796662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.188623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.00, Y:-5.87, Z:-1.16 [[ 9.78674751e-01 2.04897718e-01 1.45827265e-02 4.80028914e+01] [-2.04878750e-01 9.78783359e-01 -2.79903118e-03 -5.86639323e+00] [-1.48468451e-02 -2.48349620e-04 9.99889749e-01 -1.15801162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.218623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.03, Y:-5.87, Z:-1.16 [[ 9.78749338e-01 2.04449812e-01 1.58116406e-02 4.80305362e+01] [-2.04427477e-01 9.78877012e-01 -3.03341451e-03 -5.87060355e+00] [-1.60978326e-02 -2.63381361e-04 9.99870387e-01 -1.15803763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.87, Z:-1.16 [[ 9.78822896e-01 2.04039595e-01 1.65403102e-02 4.80578611e+01] [-2.04015117e-01 9.78962599e-01 -3.17194773e-03 -5.87498629e+00] [-1.68395480e-02 -2.69698259e-04 9.99858168e-01 -1.15826347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.278623853000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.88, Z:-1.15 [[ 9.78936994e-01 2.03503122e-01 1.63963744e-02 4.80859107e+01] [-2.03479013e-01 9.79074263e-01 -3.14317103e-03 -5.87941842e+00] [-1.66929133e-02 -2.59351663e-04 9.99860630e-01 -1.15368824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.11, Y:-5.88, Z:-1.15 [[ 9.78949230e-01 2.03444236e-01 1.63966074e-02 4.81139143e+01] [-2.03420138e-01 9.79086501e-01 -3.14195487e-03 -5.88465531e+00] [-1.66929096e-02 -2.59585837e-04 9.99860630e-01 -1.15423805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.338623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.14, Y:-5.89, Z:-1.16 [[ 9.79178200e-01 2.02224284e-01 1.77592449e-02 4.81412626e+01] [-2.02195836e-01 9.79339201e-01 -3.40187597e-03 -5.89095982e+00] [-1.80802666e-02 -2.59802566e-04 9.99836505e-01 -1.15997049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.368623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.17, Y:-5.90, Z:-1.16 [[ 9.79344211e-01 2.01406772e-01 1.78949549e-02 4.81679096e+01] [-2.01377774e-01 9.79507657e-01 -3.42657413e-03 -5.89575148e+00] [-1.82183806e-02 -2.47850645e-04 9.99834001e-01 -1.16070795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.398623853000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:48.20, Y:-5.90, Z:-1.16 [[ 9.79484244e-01 2.00755035e-01 1.75508550e-02 4.81950911e+01] [-2.00727076e-01 9.79641445e-01 -3.35848200e-03 -5.90045922e+00] [-1.78677771e-02 -2.33351594e-04 9.99840331e-01 -1.16108138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428623853000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.22, Y:-5.90, Z:-1.16 [[ 9.79598046e-01 2.00227211e-01 1.72259131e-02 4.82219657e+01] [-2.00200217e-01 9.79749466e-01 -3.29509094e-03 -5.90438937e+00] [-1.75368460e-02 -2.20766900e-04 9.99846193e-01 -1.16206758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.458623853000006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:48.25, Y:-5.91, Z:-1.16 [[ 9.79824110e-01 1.99204820e-01 1.61911371e-02 4.82497634e+01] [-1.99180854e-01 9.79957858e-01 -3.09584561e-03 -5.90810700e+00] [-1.64833394e-02 -1.91580351e-04 9.99864122e-01 -1.16341939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:48.28, Y:-5.91, Z:-1.16 [[ 9.79894232e-01 1.98875123e-01 1.59993518e-02 4.82770777e+01] [-1.98851697e-01 9.80024822e-01 -3.05803886e-03 -5.91253926e+00] [-1.62879298e-02 -1.84943610e-04 9.99867326e-01 -1.16410640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.31, Y:-5.92, Z:-1.16 [[ 9.79995317e-01 1.98389728e-01 1.58333298e-02 4.83050834e+01] [-1.98366740e-01 9.80123199e-01 -3.02515305e-03 -5.91702575e+00] [-1.61187732e-02 -1.76170199e-04 9.99870069e-01 -1.16498453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.548623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.33, Y:-5.92, Z:-1.17 [[ 9.80006736e-01 1.98338954e-01 1.57625104e-02 4.83323439e+01] [-1.98316184e-01 9.80133475e-01 -3.01046284e-03 -5.92162239e+00] [-1.60464562e-02 -1.75687050e-04 9.99871232e-01 -1.16551109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.36, Y:-5.92, Z:-1.17 [[ 9.79942967e-01 1.98637622e-01 1.59648725e-02 4.83598288e+01] [-1.98614322e-01 9.80072988e-01 -3.04792197e-03 -5.92483482e+00] [-1.62521723e-02 -1.84062632e-04 9.99867908e-01 -1.16604115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.39, Y:-5.93, Z:-1.17 [[ 9.79893694e-01 1.98852886e-01 1.63057737e-02 4.83862298e+01] [-1.98828630e-01 9.80029333e-01 -3.11181107e-03 -5.92781381e+00] [-1.65989291e-02 -1.92810593e-04 9.99862210e-01 -1.16637615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.638623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.41, Y:-5.93, Z:-1.17 [[ 9.79896180e-01 1.98798598e-01 1.68105456e-02 4.84137496e+01] [-1.98772835e-01 9.80040345e-01 -3.20663723e-03 -5.93084699e+00] [-1.71124879e-02 -1.99308233e-04 9.99853551e-01 -1.16661308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.44, Y:-5.93, Z:-1.17 [[ 9.79935754e-01 1.98565011e-01 1.72584441e-02 4.84419998e+01] [-1.98537843e-01 9.80087698e-01 -3.29078611e-03 -5.93227444e+00] [-1.75682237e-02 -2.01695290e-04 9.99845647e-01 -1.16787467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.47, Y:-5.94, Z:-1.17 [[ 9.79955570e-01 1.98440498e-01 1.75627343e-02 4.84691082e+01] [-1.98412367e-01 9.80112915e-01 -3.34748621e-03 -5.93576666e+00] [-1.78777395e-02 -2.04275926e-04 9.99840160e-01 -1.16886650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.50, Y:-5.94, Z:-1.17 [[ 9.80038745e-01 1.98013429e-01 1.77409452e-02 4.84968687e+01] [-1.97984682e-01 9.80199287e-01 -3.37988144e-03 -5.93938980e+00] [-1.80589237e-02 -2.00020630e-04 9.99836904e-01 -1.16923071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.758623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:48.53, Y:-5.94, Z:-1.16 [[ 9.80278259e-01 1.96875227e-01 1.71662172e-02 4.85253899e+01] [-1.96848160e-01 9.80428536e-01 -3.26918606e-03 -5.94156987e+00] [-1.74738709e-02 -1.74426234e-04 9.99847305e-01 -1.16419329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788623853000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.55, Y:-5.95, Z:-1.17 [[ 9.80342108e-01 1.96522245e-01 1.75601312e-02 4.85531252e+01] [-1.96493888e-01 9.80499351e-01 -3.34285621e-03 -5.94597991e+00] [-1.78746428e-02 -1.73315751e-04 9.99840221e-01 -1.17083091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.818623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.58, Y:-5.95, Z:-1.17 [[ 9.80454763e-01 1.95987288e-01 1.72464633e-02 4.85799940e+01] [-1.95959874e-01 9.80606423e-01 -3.28190590e-03 -5.94850798e+00] [-1.75552046e-02 -1.61854519e-04 9.99845882e-01 -1.17119419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.61, Y:-5.95, Z:-1.17 [[ 9.80616439e-01 1.95176032e-01 1.72544467e-02 4.86088159e+01] [-1.95148494e-01 9.80768217e-01 -3.28191031e-03 -5.94901780e+00] [-1.75631631e-02 -1.48884071e-04 9.99845745e-01 -1.17193611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.878623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.64, Y:-5.95, Z:-1.17 [[ 9.80773890e-01 1.94392714e-01 1.71478828e-02 4.86370085e+01] [-1.94365417e-01 9.80923776e-01 -3.26039842e-03 -5.95222463e+00] [-1.74545637e-02 -1.35241762e-04 9.99847648e-01 -1.17292965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.908623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.66, Y:-5.96, Z:-1.17 [[ 9.80955276e-01 1.93486442e-01 1.70218608e-02 4.86646928e+01] [-1.93459430e-01 9.81102942e-01 -3.23519413e-03 -5.95605766e+00] [-1.73261639e-02 -1.19458736e-04 9.99849884e-01 -1.17393819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.69, Y:-5.96, Z:-1.17 [[ 9.81441020e-01 1.90999813e-01 1.71054152e-02 4.86912930e+01] [-1.90972180e-01 9.81590070e-01 -3.24979727e-03 -5.95793559e+00] [-1.74112164e-02 -7.71740814e-05 9.99848410e-01 -1.17484110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.72, Y:-5.96, Z:-1.18 [[ 9.81762635e-01 1.89321667e-01 1.73041997e-02 4.87190315e+01] [-1.89293154e-01 9.81915121e-01 -3.28601765e-03 -5.96167593e+00] [-1.76133696e-02 -4.94771907e-05 9.99844871e-01 -1.17568595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.998623853000005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:48.75, Y:-5.97, Z:-1.18 [[ 9.82062711e-01 1.87716200e-01 1.77612157e-02 4.87459826e+01] [-1.87685922e-01 9.82223309e-01 -3.37144389e-03 -5.96544479e+00] [-1.80783546e-02 -2.25608195e-05 9.99836573e-01 -1.17639944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.77, Y:-5.97, Z:-1.18 [[ 9.82699445e-01 1.84330891e-01 1.79978848e-02 4.87731935e+01] [-1.84299262e-01 9.82864244e-01 -3.41477157e-03 -5.96690738e+00] [-1.83189253e-02 3.86972280e-05 9.99832194e-01 -1.17623847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.80, Y:-5.97, Z:-1.18 [[ 9.82983943e-01 1.82813706e-01 1.79364789e-02 4.88009348e+01] [-1.82782068e-01 9.83147570e-01 -3.40159354e-03 -5.97028147e+00] [-1.82560636e-02 6.52451215e-05 9.99833342e-01 -1.17696836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.83, Y:-5.97, Z:-1.18 [[ 9.83227320e-01 1.81495990e-01 1.79789796e-02 4.88287200e+01] [-1.81464006e-01 9.83391681e-01 -3.40834746e-03 -5.97485040e+00] [-1.82989804e-02 8.86426818e-05 9.99832556e-01 -1.17809906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:48.85, Y:-5.98, Z:-1.18 [[ 9.83565967e-01 1.79643632e-01 1.80597053e-02 4.88549031e+01] [-1.79611073e-01 9.83731747e-01 -3.42231232e-03 -5.98020616e+00] [-1.83807020e-02 1.22346891e-04 9.99831053e-01 -1.17914148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148623853000004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:48.88, Y:-5.99, Z:-1.18 [[ 9.83631083e-01 1.79266833e-01 1.82563946e-02 4.88829580e+01] [-1.79233525e-01 9.83800481e-01 -3.45798850e-03 -5.98508924e+00] [-1.85805524e-02 1.29227018e-04 9.99827358e-01 -1.17953048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.178623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.91, Y:-5.99, Z:-1.18 [[ 9.83718691e-01 1.78782134e-01 1.82889257e-02 4.89108083e+01] [-1.78748648e-01 9.83888677e-01 -3.46281043e-03 -5.98870200e+00] [-1.86133555e-02 1.37310604e-04 9.99826747e-01 -1.17993558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.94, Y:-5.99, Z:-1.18 [[ 9.83690977e-01 1.78981786e-01 1.78208458e-02 4.89378166e+01] [-1.78950048e-01 9.83852379e-01 -3.37288944e-03 -5.99258121e+00] [-1.81367673e-02 1.28839696e-04 9.99835507e-01 -1.18033539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:48.97, Y:-6.00, Z:-1.18 [[ 9.83572902e-01 1.79670790e-01 1.73998244e-02 4.89658212e+01] [-1.79640669e-01 9.83726789e-01 -3.29170010e-03 -5.99544887e+00] [-1.77080958e-02 1.11910909e-04 9.99843193e-01 -1.18189787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.268623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:48.99, Y:-6.00, Z:-1.18 [[ 9.83507262e-01 1.80056509e-01 1.71207440e-02 4.89922557e+01] [-1.80027427e-01 9.83656263e-01 -3.23768128e-03 -5.99983522e+00] [-1.74238926e-02 1.02079572e-04 9.99848187e-01 -1.18286561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.02, Y:-6.00, Z:-1.18 [[ 9.83418827e-01 1.80574553e-01 1.67403876e-02 4.90196343e+01] [-1.80546848e-01 9.83561296e-01 -3.16432210e-03 -6.00478346e+00] [-1.70365934e-02 8.94297183e-05 9.99854863e-01 -1.18337472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.05, Y:-6.01, Z:-1.18 [[ 9.83301663e-01 1.81226366e-01 1.65784011e-02 4.90459724e+01] [-1.81199306e-01 9.83441406e-01 -3.13254464e-03 -6.00960096e+00] [-1.68715858e-02 7.62415801e-05 9.99857662e-01 -1.18422103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.358623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.07, Y:-6.01, Z:-1.19 [[ 9.83025379e-01 1.82734389e-01 1.64087402e-02 4.90728361e+01] [-1.82708111e-01 9.83162317e-01 -3.09924486e-03 -6.01368589e+00] [-1.66987936e-02 4.86264245e-05 9.99860564e-01 -1.18509989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388623853000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.10, Y:-6.02, Z:-1.19 [[ 9.82920722e-01 1.83307664e-01 1.62835534e-02 4.91000938e+01] [-1.83281901e-01 9.83055593e-01 -3.07336983e-03 -6.01801356e+00] [-1.65710105e-02 3.63982613e-05 9.99862691e-01 -1.18605216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.13, Y:-6.02, Z:-1.19 [[ 9.82820807e-01 1.83850296e-01 1.61965922e-02 4.91267536e+01] [-1.83824901e-01 9.82954255e-01 -3.05577676e-03 -6.02224715e+00] [-1.64823147e-02 2.59440078e-05 9.99864157e-01 -1.18683581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.448623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.15, Y:-6.03, Z:-1.19 [[ 9.82512443e-01 1.85471461e-01 1.64206064e-02 4.91532820e+01] [-1.85445609e-01 9.82649651e-01 -3.09657946e-03 -6.02573164e+00] [-1.67100303e-02 -2.70151044e-06 9.99860378e-01 -1.18736286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.478623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.18, Y:-6.03, Z:-1.19 [[ 9.82377866e-01 1.86159713e-01 1.66820287e-02 4.91804158e+01] [-1.86133156e-01 9.82519496e-01 -3.14440180e-03 -6.03065016e+00] [-1.69757793e-02 -1.60879194e-05 9.99855901e-01 -1.18781511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.21, Y:-6.04, Z:-1.19 [[ 9.82266705e-01 1.86720406e-01 1.69590623e-02 4.92068989e+01] [-1.86693064e-01 9.82413095e-01 -3.19538492e-03 -6.03543972e+00] [-1.72574485e-02 -2.74190958e-05 9.99851079e-01 -1.18857311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.538623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.23, Y:-6.04, Z:-1.19 [[ 9.82077708e-01 1.87648178e-01 1.76504308e-02 4.92341654e+01] [-1.87618739e-01 9.82236305e-01 -3.32407672e-03 -6.03941050e+00] [-1.79606508e-02 -4.70499240e-05 9.99838693e-01 -1.18919436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568623853000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.26, Y:-6.04, Z:-1.19 [[ 9.81993038e-01 1.88068848e-01 1.78824510e-02 4.92618238e+01] [-1.88038724e-01 9.82155846e-01 -3.36646449e-03 -6.04366024e+00] [-1.81964809e-02 -5.67485776e-05 9.99834429e-01 -1.19018887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:49.29, Y:-6.05, Z:-1.19 [[ 9.81863696e-01 1.88785269e-01 1.74300059e-02 4.92888968e+01] [-1.88756786e-01 9.82018389e-01 -3.28004239e-03 -6.04825187e+00] [-1.77358100e-02 -6.94773436e-05 9.99842706e-01 -1.19104268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.32, Y:-6.05, Z:-1.19 [[ 9.81667235e-01 1.89776022e-01 1.77342074e-02 4.93160914e+01] [-1.89746725e-01 9.81827405e-01 -3.33571941e-03 -6.05244683e+00] [-1.80449703e-02 -9.04413167e-05 9.99837172e-01 -1.19205688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.658623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.34, Y:-6.06, Z:-1.19 [[ 9.81560938e-01 1.90365571e-01 1.72937426e-02 4.93427769e+01] [-1.90337825e-01 9.81713267e-01 -3.25161128e-03 -6.05634689e+00] [-1.75964914e-02 -9.99987357e-05 9.99845165e-01 -1.19249134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.688623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.37, Y:-6.06, Z:-1.19 [[ 9.81481643e-01 1.90771451e-01 1.73216049e-02 4.93709773e+01] [-1.90743706e-01 9.81634475e-01 -3.25528901e-03 -6.06010690e+00] [-1.76245007e-02 -1.08980704e-04 9.99844670e-01 -1.19302648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.718623853000004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:49.40, Y:-6.06, Z:-1.19 [[ 9.81292130e-01 1.91690079e-01 1.79072462e-02 4.93987150e+01] [-1.91660602e-01 9.81455499e-01 -3.36407529e-03 -6.06351482e+00] [-1.82200251e-02 -1.30972989e-04 9.99833993e-01 -1.19407020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748623853000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.43, Y:-6.07, Z:-1.19 [[ 9.81203186e-01 1.92155464e-01 1.77928599e-02 4.94252023e+01] [-1.92126479e-01 9.81364488e-01 -3.34037029e-03 -6.06744263e+00] [-1.81031512e-02 -1.40897553e-04 9.99836115e-01 -1.19396109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.778623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.45, Y:-6.07, Z:-1.19 [[ 9.81161805e-01 1.92308594e-01 1.84097125e-02 4.94527754e+01] [-1.92277642e-01 9.81334490e-01 -3.45349827e-03 -6.07118764e+00] [-1.87302232e-02 -1.51335516e-04 9.99824563e-01 -1.19455690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.48, Y:-6.07, Z:-1.20 [[ 9.81038944e-01 1.93002621e-01 1.76798664e-02 4.94800992e+01] [-1.92974210e-01 9.81198228e-01 -3.31533046e-03 -6.07405691e+00] [-1.79873211e-02 -1.59289955e-04 9.99838202e-01 -1.19538564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.838623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.51, Y:-6.08, Z:-1.20 [[ 9.81036260e-01 1.93030114e-01 1.75280128e-02 4.95076215e+01] [-1.93002220e-01 9.81192820e-01 -3.28532277e-03 -6.07815543e+00] [-1.78325265e-02 -1.59924619e-04 9.99840975e-01 -1.19644592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.868623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:49.53, Y:-6.08, Z:-1.20 [[ 9.81036024e-01 1.93065993e-01 1.71418119e-02 4.95341572e+01] [-1.93039342e-01 9.81185761e-01 -3.21169412e-03 -6.08201273e+00] [-1.74393707e-02 -1.58256471e-04 9.99847910e-01 -1.19748383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.898623853000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:49.56, Y:-6.09, Z:-1.20 [[ 9.81084368e-01 1.92857824e-01 1.67129706e-02 4.95613883e+01] [-1.92832484e-01 9.81226700e-01 -3.12991256e-03 -6.08566387e+00] [-1.70028411e-02 -1.52095352e-04 9.99855430e-01 -1.19830173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928623853000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:49.59, Y:-6.09, Z:-1.20 [[ 9.81248109e-01 1.92001060e-01 1.69629251e-02 4.95893031e+01] [-1.91974855e-01 9.81394708e-01 -3.17522019e-03 -6.08932531e+00] [-1.72569705e-02 -1.40776275e-04 9.99851077e-01 -1.19996579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.958623853000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.62, Y:-6.09, Z:-1.20 [[ 9.81427225e-01 1.91078790e-01 1.70146492e-02 4.96166032e+01] [-1.91052307e-01 9.81574694e-01 -3.18366682e-03 -6.09376016e+00] [-1.73094803e-02 -1.26150695e-04 9.99850172e-01 -1.20100496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:49.64, Y:-6.10, Z:-1.20 [[ 9.81600840e-01 1.90184452e-01 1.70195307e-02 4.96441505e+01] [-1.90157841e-01 9.81748370e-01 -3.18335465e-03 -6.09821857e+00] [-1.73143211e-02 -1.11613622e-04 9.99850090e-01 -1.20123081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.018623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:49.67, Y:-6.10, Z:-1.20 [[ 9.82089254e-01 1.87634189e-01 1.71495751e-02 4.96716776e+01] [-1.87606802e-01 9.82238976e-01 -3.20643362e-03 -6.10186168e+00] [-1.74466177e-02 -6.83729481e-05 9.99847794e-01 -1.20235820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.048623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.70, Y:-6.11, Z:-1.20 [[ 9.82367493e-01 1.86210701e-01 1.67237430e-02 4.96989971e+01] [-1.86184472e-01 9.82509833e-01 -3.12564462e-03 -6.10663888e+00] [-1.70132705e-02 -4.31695891e-05 9.99855263e-01 -1.20321300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.078623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.73, Y:-6.11, Z:-1.20 [[ 9.82627231e-01 1.84842485e-01 1.66427113e-02 4.97259702e+01] [-1.84816333e-01 9.82768159e-01 -3.10930652e-03 -6.11216977e+00] [-1.69306587e-02 -2.05556179e-05 9.99856666e-01 -1.20431720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.75, Y:-6.12, Z:-1.21 [[ 9.83103171e-01 1.82343474e-01 1.60938808e-02 4.97533232e+01] [-1.82318702e-01 9.83234894e-01 -3.00563836e-03 -6.11896757e+00] [-1.63721237e-02 2.06371428e-05 9.99865968e-01 -1.20553963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.138623853000006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:49.78, Y:-6.12, Z:-1.21 [[ 9.83279186e-01 1.81438565e-01 1.55592111e-02 4.97807966e+01] [-1.81415315e-01 9.83402281e-01 -2.90469796e-03 -6.12449455e+00] [-1.58279879e-02 3.34498626e-05 9.99874729e-01 -1.20612327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:49.81, Y:-6.13, Z:-1.21 [[ 9.83479848e-01 1.80323468e-01 1.58378109e-02 4.98070051e+01] [-1.80299252e-01 9.83607363e-01 -2.95555504e-03 -6.12921400e+00] [-1.61111433e-02 5.11833599e-05 9.99870206e-01 -1.20709064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.198623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:49.83, Y:-6.14, Z:-1.21 [[ 9.83831669e-01 1.78408246e-01 1.56762743e-02 4.98345877e+01] [-1.78384300e-01 9.83956550e-01 -2.92405373e-03 -6.13513340e+00] [-1.59464481e-02 8.03754429e-05 9.99872844e-01 -1.20862187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.228623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:49.86, Y:-6.14, Z:-1.20 [[ 9.83977168e-01 1.77641622e-01 1.52442184e-02 4.98622835e+01] [-1.77618903e-01 9.84095242e-01 -2.84238165e-03 -6.14037196e+00] [-1.55066881e-02 8.91773067e-05 9.99879760e-01 -1.20495592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.258623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:49.89, Y:-6.15, Z:-1.21 [[ 9.84008712e-01 1.77466799e-01 1.52443454e-02 4.98902981e+01] [-1.77444070e-01 9.84126784e-01 -2.84170028e-03 -6.14541538e+00] [-1.55066761e-02 9.12391379e-05 9.99879760e-01 -1.20550534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288623853000004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:49.92, Y:-6.15, Z:-1.21 [[ 9.84165842e-01 1.76553999e-01 1.56933419e-02 4.99165554e+01] [-1.76529847e-01 9.84290950e-01 -2.92208698e-03 -6.15118196e+00] [-1.59627205e-02 1.05474951e-04 9.99872582e-01 -1.21001010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.318623853000005 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:49.94, Y:-6.16, Z:-1.21 [[ 9.84262638e-01 1.75919549e-01 1.67144112e-02 4.99439122e+01] [-1.75892087e-01 9.84404540e-01 -3.11065495e-03 -6.15793418e+00] [-1.70009673e-02 1.21768771e-04 9.99855466e-01 -1.21014459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34862385300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:49.97, Y:-6.16, Z:-1.21 [[ 9.84229490e-01 1.76105914e-01 1.67038258e-02 4.99702404e+01] [-1.76078534e-01 9.84371217e-01 -3.10746939e-03 -6.16425798e+00] [-1.69900090e-02 1.17277858e-04 9.99855653e-01 -1.21122062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.378623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:50.00, Y:-6.17, Z:-1.21 [[ 9.84222955e-01 1.76148282e-01 1.66420298e-02 4.99971177e+01] [-1.76121135e-01 9.84363637e-01 -3.09451527e-03 -6.17009775e+00] [-1.69269025e-02 1.14679775e-04 9.99856723e-01 -1.21163820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.408623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:50.02, Y:-6.18, Z:-1.21 [[ 9.83998158e-01 1.77484530e-01 1.57120158e-02 5.00229425e+01] [-1.77460520e-01 9.84123587e-01 -2.92055123e-03 -6.17706680e+00] [-1.59809180e-02 8.55545380e-05 9.99872293e-01 -1.21290965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.438623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:50.05, Y:-6.18, Z:-1.21 [[ 9.83815906e-01 1.78506263e-01 1.55491733e-02 5.00504929e+01] [-1.78482897e-01 9.83938773e-01 -2.88893944e-03 -6.18324415e+00] [-1.58151283e-02 6.69230731e-05 9.99874931e-01 -1.21352785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468623853000004 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:50.08, Y:-6.19, Z:-1.21 [[ 9.83538468e-01 1.80036077e-01 1.54626421e-02 5.00771050e+01] [-1.80013175e-01 9.83660007e-01 -2.87179816e-03 -6.18887597e+00] [-1.57270099e-02 4.10446512e-05 9.99876322e-01 -1.21371671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.498623853000005 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:50.10, Y:-6.19, Z:-1.21 [[ 9.83284988e-01 1.81400558e-01 1.56355418e-02 5.01042472e+01] [-1.81377336e-01 9.83409293e-01 -2.90254929e-03 -6.19386671e+00] [-1.59026612e-02 1.81002289e-05 9.99873545e-01 -1.21384071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528623853000006 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:50.13, Y:-6.20, Z:-1.21 [[ 9.82738717e-01 1.84307026e-01 1.59854513e-02 5.01306942e+01] [-1.84283157e-01 9.82868719e-01 -2.96631185e-03 -6.19857725e+00] [-1.62583122e-02 -3.07399309e-05 9.99867824e-01 -1.21443653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.558623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:50.16, Y:-6.20, Z:-1.21 [[ 9.82615447e-01 1.84958760e-01 1.60355841e-02 5.01579524e+01] [-1.84934851e-01 9.82746282e-01 -2.97417589e-03 -6.20386644e+00] [-1.63090106e-02 -4.30671909e-05 9.99866998e-01 -1.21482471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.588623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:50.18, Y:-6.21, Z:-1.22 [[ 9.82532939e-01 1.85391281e-01 1.60964780e-02 5.01846405e+01] [-1.85367265e-01 9.82664780e-01 -2.98444483e-03 -6.20992113e+00] [-1.63707321e-02 -5.14447555e-05 9.99865989e-01 -1.21538711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.618623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:50.21, Y:-6.22, Z:-1.22 [[ 9.82495670e-01 1.85591998e-01 1.60583047e-02 5.02122432e+01] [-1.85568161e-01 9.82626891e-01 -2.97503299e-03 -6.21627935e+00] [-1.63314644e-02 -5.69530386e-05 9.99866631e-01 -1.21626945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648623853000004 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:50.24, Y:-6.22, Z:-1.21 [[ 9.82498511e-01 1.85575335e-01 1.60770295e-02 5.02384121e+01] [-1.85551458e-01 9.82630038e-01 -2.97733287e-03 -6.22158777e+00] [-1.63502916e-02 -5.78911566e-05 9.99866323e-01 -1.21325481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.678623853000005 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:50.27, Y:-6.23, Z:-1.22 [[ 9.82531250e-01 1.85372187e-01 1.64163103e-02 5.02657635e+01] [-1.85347289e-01 9.82668382e-01 -3.03867432e-03 -6.22729530e+00] [-1.66950747e-02 -5.71261281e-05 9.99860626e-01 -1.21762693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708623853000006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:50.29, Y:-6.23, Z:-1.22 [[ 9.82638421e-01 1.84770911e-01 1.67763004e-02 5.02919521e+01] [-1.84744842e-01 9.82781618e-01 -3.10408771e-03 -6.23331769e+00] [-1.70609848e-02 -4.91391175e-05 9.99854450e-01 -1.21784086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.738623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:50.32, Y:-6.24, Z:-1.22 [[ 9.82730397e-01 1.84249337e-01 1.71215632e-02 5.03194092e+01] [-1.84222130e-01 9.82879535e-01 -3.16647870e-03 -6.23888095e+00] [-1.74118557e-02 -4.23759750e-05 9.99848401e-01 -1.21846609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.768623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:50.35, Y:-6.24, Z:-1.22 [[ 9.82888295e-01 1.83411863e-01 1.70495980e-02 5.03467588e+01] [-1.83384780e-01 9.83036158e-01 -3.15195436e-03 -6.24451753e+00] [-1.73384772e-02 -2.86177331e-05 9.99849677e-01 -1.21934439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.798623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:50.37, Y:-6.25, Z:-1.22 [[ 9.83111788e-01 1.82205415e-01 1.70997087e-02 5.03745444e+01] [-1.82178011e-01 9.83260488e-01 -3.15998467e-03 -6.25071727e+00] [-1.73892343e-02 -8.57274374e-06 9.99848796e-01 -1.22005624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:50.40, Y:-6.26, Z:-1.22 [[ 9.83628475e-01 1.79410118e-01 1.69420178e-02 5.04016612e+01] [-1.79382823e-01 9.83774368e-01 -3.12964348e-03 -6.25818880e+00] [-1.72286126e-02 3.92994588e-05 9.99851576e-01 -1.22068057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.858623853000005 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:50.43, Y:-6.26, Z:-1.22 [[ 9.83907554e-01 1.77846712e-01 1.72183862e-02 5.04291051e+01] [-1.77818302e-01 9.84058201e-01 -3.17943742e-03 -6.26395852e+00] [-1.75093466e-02 6.65283004e-05 9.99846697e-01 -1.22111750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888623853000006 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:50.46, Y:-6.27, Z:-1.22 [[ 9.84209014e-01 1.76157506e-01 1.73536759e-02 5.04560599e+01] [-1.76128408e-01 9.84361988e-01 -3.20316557e-03 -6.26985041e+00] [-1.76465605e-02 9.61091216e-05 9.99844283e-01 -1.22187087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91862385300001 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:50.48, Y:-6.28, Z:-1.22 [[ 9.84836879e-01 1.72662153e-01 1.68553330e-02 5.04827880e+01] [-1.72634210e-01 9.84981095e-01 -3.11000314e-03 -6.27814845e+00] [-1.71391642e-02 1.53038697e-04 9.99853102e-01 -1.22270010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.948623853 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:50.51, Y:-6.29, Z:-1.22 [[ 9.85147548e-01 1.70918215e-01 1.64703592e-02 5.05099765e+01] [-1.70891309e-01 9.85285203e-01 -3.03782569e-03 -6.28538522e+00] [-1.67472210e-02 1.78065280e-04 9.99859740e-01 -1.22355246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.978623853 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:50.54, Y:-6.29, Z:-1.22 [[ 9.85399108e-01 1.69507561e-01 1.59932886e-02 5.05364179e+01] [-1.69482024e-01 9.85528868e-01 -2.94870525e-03 -6.29212823e+00] [-1.62616754e-02 1.95076606e-04 9.99867751e-01 -1.22442384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008623853 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:50.56, Y:-6.30, Z:-1.23 [[ 9.85621807e-01 1.68253592e-01 1.55042813e-02 5.05632628e+01] [-1.68229459e-01 9.85743722e-01 -2.85718674e-03 -6.29872881e+00] [-1.57639799e-02 2.07828705e-04 9.99875719e-01 -1.22507834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.038623853000004 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:50.59, Y:-6.31, Z:-1.23 [[ 9.86059722e-01 1.65720531e-01 1.49308688e-02 5.05899829e+01] [-1.65697875e-01 9.86172728e-01 -2.75050155e-03 -6.30782865e+00] [-1.51802302e-02 2.38145563e-04 9.99884745e-01 -1.22629714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068623853000005 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:50.62, Y:-6.31, Z:-1.22 [[ 9.86244638e-01 1.64647846e-01 1.45808687e-02 5.06166061e+01] [-1.64626137e-01 9.86352384e-01 -2.68502601e-03 -6.31465030e+00] [-1.48239583e-02 2.47700416e-04 9.99890088e-01 -1.22434542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09862385300001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:50.64, Y:-6.32, Z:-1.23 [[ 9.86437599e-01 1.63478602e-01 1.46836849e-02 5.06440266e+01] [-1.63456477e-01 9.86546844e-01 -2.70262120e-03 -6.32180782e+00] [-1.49279637e-02 2.65823774e-04 9.99888536e-01 -1.22703443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:50.67, Y:-6.33, Z:-1.23 [[ 9.86809086e-01 1.61185072e-01 1.50731984e-02 5.06709829e+01] [-1.61161509e-01 9.86924150e-01 -2.77309733e-03 -6.33211669e+00] [-1.53230854e-02 3.07298246e-04 9.99882547e-01 -1.22787398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.158623853 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:50.70, Y:-6.34, Z:-1.23 [[ 9.87019257e-01 1.59872324e-01 1.52913720e-02 5.06982461e+01] [-1.59847927e-01 9.87137645e-01 -2.81248722e-03 -6.34051614e+00] [-1.55443278e-02 3.31684938e-04 9.99879125e-01 -1.22861740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.188623853 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:50.73, Y:-6.35, Z:-1.23 [[ 9.87234215e-01 1.58552701e-01 1.51540670e-02 5.07253172e+01] [-1.58528596e-01 9.87350454e-01 -2.78655629e-03 -6.34893115e+00] [-1.54041910e-02 3.48630746e-04 9.99881288e-01 -1.22939230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.218623853000004 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:50.75, Y:-6.36, Z:-1.23 [[ 9.87511341e-01 1.56808465e-01 1.52465179e-02 5.07528697e+01] [-1.56783872e-01 9.87628960e-01 -2.80259193e-03 -6.36054960e+00] [-1.54973728e-02 3.77183213e-04 9.99879837e-01 -1.23020667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248623853000005 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:50.78, Y:-6.37, Z:-1.23 [[ 9.87632807e-01 1.56051759e-01 1.51422441e-02 5.07792880e+01] [-1.56027423e-01 9.87748804e-01 -2.78275521e-03 -6.36841116e+00] [-1.53909873e-02 3.85735021e-04 9.99881477e-01 -1.23016057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.278623853000006 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:50.81, Y:-6.38, Z:-1.23 [[ 9.87678019e-01 1.55782878e-01 1.49608397e-02 5.08066417e+01] [-1.55759104e-01 9.87791247e-01 -2.74850380e-03 -6.37673534e+00] [-1.52063563e-02 3.84349799e-04 9.99884303e-01 -1.22669931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308623853 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:50.83, Y:-6.39, Z:-1.22 [[ 9.87711090e-01 1.55582932e-01 1.48578198e-02 5.08347654e+01] [-1.55559473e-01 9.87822759e-01 -2.72887425e-03 -6.38530715e+00] [-1.51014588e-02 3.84064750e-04 9.99885893e-01 -1.22433105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.338623853 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:50.86, Y:-6.40, Z:-1.23 [[ 9.87646579e-01 1.55937374e-01 1.54198135e-02 5.08602496e+01] [-1.55912160e-01 9.87766866e-01 -2.83137670e-03 -6.39808608e+00] [-1.56726983e-02 3.92263074e-04 9.99877099e-01 -1.22624383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.368623853 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:50.89, Y:-6.41, Z:-1.23 [[ 9.87608873e-01 1.56194920e-01 1.52269477e-02 5.08881948e+01] [-1.56170380e-01 9.87726177e-01 -2.79492962e-03 -6.40679444e+00] [-1.54766086e-02 3.82299080e-04 9.99880157e-01 -1.22601266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.398623853000004 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:50.92, Y:-6.42, Z:-1.23 [[ 9.87515533e-01 1.56739098e-01 1.56820786e-02 5.09153308e+01] [-1.56713150e-01 9.87639969e-01 -2.87769578e-03 -6.41613408e+00] [-1.59392950e-02 3.84181359e-04 9.99872888e-01 -1.23268541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428623853000005 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:50.94, Y:-6.43, Z:-1.23 [[ 9.87217375e-01 1.58710456e-01 1.45892388e-02 5.09423429e+01] [-1.58688225e-01 9.87325116e-01 -2.67641291e-03 -6.42956768e+00] [-1.48290966e-02 3.27060925e-04 9.99889989e-01 -1.23364512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.458623853000006 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:50.97, Y:-6.44, Z:-1.23 [[ 9.87013719e-01 1.60007859e-01 1.41916966e-02 5.09708473e+01] [-1.59986962e-01 9.87115695e-01 -2.60315756e-03 -6.43903833e+00] [-1.44253721e-02 2.98865803e-04 9.99895904e-01 -1.23447370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488623853 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:51.00, Y:-6.45, Z:-1.24 [[ 9.86780436e-01 1.61489350e-01 1.36220766e-02 5.09991933e+01] [-1.61470242e-01 9.86874419e-01 -2.49836467e-03 -6.44796013e+00] [-1.38467382e-02 2.65777379e-04 9.99904094e-01 -1.23530049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.518623853 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:51.03, Y:-6.46, Z:-1.24 [[ 9.86557322e-01 1.62896152e-01 1.30189993e-02 5.10279161e+01] [-1.62878825e-01 9.86643192e-01 -2.38746219e-03 -6.45677907e+00] [-1.32340154e-02 2.34849000e-04 9.99912399e-01 -1.23541576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.548623853 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:51.05, Y:-6.47, Z:-1.24 [[ 9.86147544e-01 1.65337003e-01 1.32927123e-02 5.10547608e+01] [-1.65319165e-01 9.86237108e-01 -2.43732597e-03 -6.46913478e+00] [-1.35127463e-02 2.06022907e-04 9.99908677e-01 -1.23667393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.578623853 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:51.08, Y:-6.48, Z:-1.24 [[ 9.85967337e-01 1.66430417e-01 1.30125988e-02 5.10842040e+01] [-1.66413424e-01 9.86053184e-01 -2.38551053e-03 -6.47821376e+00] [-1.32281359e-02 1.86564343e-04 9.99912487e-01 -1.23787426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608623853000005 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:51.11, Y:-6.49, Z:-1.24 [[ 9.85717740e-01 1.67929494e-01 1.26578657e-02 5.11121837e+01] [-1.67913538e-01 9.85798995e-01 -2.32055850e-03 -6.48683876e+00] [-1.28678015e-02 1.61988656e-04 9.99917193e-01 -1.23876434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.638623853000006 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:51.14, Y:-6.50, Z:-1.24 [[ 9.85422462e-01 1.69678245e-01 1.23233063e-02 5.11414947e+01] [-1.69663261e-01 9.85499505e-01 -2.25899373e-03 -6.49535226e+00] [-1.25279144e-02 1.35250821e-04 9.99921513e-01 -1.23940556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66862385300001 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:51.17, Y:-6.51, Z:-1.24 [[ 9.84801236e-01 1.73219846e-01 1.27047732e-02 5.11697744e+01] [-1.73204213e-01 9.84883179e-01 -2.32899935e-03 -6.50633753e+00] [-1.29161464e-02 9.30811917e-05 9.99916579e-01 -1.23983487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.698623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:51.20, Y:-6.51, Z:-1.24 [[ 9.84445964e-01 1.75219284e-01 1.28197549e-02 5.11989247e+01] [-1.75203540e-01 9.84529430e-01 -2.34983729e-03 -6.51442503e+00] [-1.30331628e-02 6.72214124e-05 9.99915062e-01 -1.24032758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.728623853 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:51.23, Y:-6.52, Z:-1.24 [[ 9.84116272e-01 1.77074221e-01 1.26444676e-02 5.12278842e+01] [-1.77059057e-01 9.84197500e-01 -2.31778476e-03 -6.52259751e+00] [-1.28550733e-02 4.21521954e-05 9.99917369e-01 -1.24084151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.758623853 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:51.26, Y:-6.53, Z:-1.24 [[ 9.83778977e-01 1.78972531e-01 1.21555343e-02 5.12573408e+01] [-1.78958664e-01 9.83854071e-01 -2.22793855e-03 -6.53036843e+00] [-1.23580117e-02 1.64609230e-05 9.99923637e-01 -1.23822436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788623853000004 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:51.29, Y:-6.54, Z:-1.24 [[ 9.83265769e-01 1.81756476e-01 1.23697739e-02 5.12851260e+01] [-1.81742335e-01 9.83343573e-01 -2.26728835e-03 -6.53998356e+00] [-1.25758320e-02 -1.87645557e-05 9.99920921e-01 -1.24211276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.818623853000005 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:51.31, Y:-6.55, Z:-1.24 [[ 9.83007190e-01 1.83193002e-01 1.17127831e-02 5.13142268e+01] [-1.83180425e-01 9.83076967e-01 -2.14681626e-03 -6.54689992e+00] [-1.19078490e-02 -3.52167636e-05 9.99929098e-01 -1.24250541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84862385300001 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:51.34, Y:-6.55, Z:-1.24 [[ 9.82789527e-01 1.84400108e-01 1.10157097e-02 5.13434856e+01] [-1.84389062e-01 9.82851259e-01 -2.01881578e-03 -6.55338374e+00] [-1.11990740e-02 -4.71053832e-05 9.99937287e-01 -1.24363619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.878623853 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:51.37, Y:-6.56, Z:-1.24 [[ 9.82560898e-01 1.85631198e-01 1.07303066e-02 5.13729023e+01] [-1.85620794e-01 9.82619486e-01 -1.96626259e-03 -6.55999650e+00] [-1.09088080e-02 -5.97952877e-05 9.99940495e-01 -1.24473188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.908623853 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:51.40, Y:-6.57, Z:-1.25 [[ 9.82331311e-01 1.86849389e-01 1.06066547e-02 5.14021355e+01] [-1.86839297e-01 9.82388569e-01 -1.94335184e-03 -6.56746244e+00] [-1.07829704e-02 -7.27245498e-05 9.99941859e-01 -1.24551150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.938623853 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:51.43, Y:-6.58, Z:-1.25 [[ 9.81951671e-01 1.88851514e-01 1.02966692e-02 5.14303291e+01] [-1.88842115e-01 9.82005650e-01 -1.88631759e-03 -6.57719162e+00] [-1.04676212e-02 -9.21720817e-05 9.99945209e-01 -1.24555538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968623853000004 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:51.46, Y:-6.58, Z:-1.25 [[ 9.81791536e-01 1.89674604e-01 1.04367217e-02 5.14580846e+01] [-1.89664997e-01 9.81847001e-01 -1.91181694e-03 -6.58307126e+00] [-1.06098870e-02 -1.02475093e-04 9.99943708e-01 -1.24595548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.998623853000005 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:51.49, Y:-6.59, Z:-1.25 [[ 9.81473745e-01 1.91308847e-01 1.04982060e-02 5.14870276e+01] [-1.91299225e-01 9.81529883e-01 -1.92259375e-03 -6.58870931e+00] [-1.06721121e-02 -1.21323381e-04 9.99943044e-01 -1.24644402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028623853000006 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:51.52, Y:-6.59, Z:-1.24 [[ 9.81345821e-01 1.91982264e-01 1.01582049e-02 5.15165567e+01] [-1.91973293e-01 9.81398387e-01 -1.86009881e-03 -6.59404267e+00] [-1.03263519e-02 -1.24703849e-04 9.99946674e-01 -1.24126382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.058623853 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:51.54, Y:-6.60, Z:-1.25 [[ 9.81311927e-01 1.92136351e-01 1.05130809e-02 5.15441291e+01] [-1.92126753e-01 9.81368231e-01 -1.92491076e-03 -6.59967885e+00] [-1.06870489e-02 -1.30906215e-04 9.99942883e-01 -1.24746817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.088623853 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:51.57, Y:-6.61, Z:-1.25 [[ 9.81298186e-01 1.92202515e-01 1.05859733e-02 5.15742666e+01] [-1.92192795e-01 9.81355275e-01 -1.93756393e-03 -6.60587326e+00] [-1.07610054e-02 -1.33219818e-04 9.99942090e-01 -1.24817541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.118623853 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:51.60, Y:-6.61, Z:-1.24 [[ 9.81462956e-01 1.91375928e-01 1.02819919e-02 5.16034709e+01] [-1.91366711e-01 9.81516806e-01 -1.88203509e-03 -6.61176923e+00] [-1.04521241e-02 -1.20483258e-04 9.99945368e-01 -1.24161635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148623853000004 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:51.63, Y:-6.62, Z:-1.24 [[ 9.81465190e-01 1.91364472e-01 1.02820156e-02 5.16331461e+01] [-1.91355256e-01 9.81519039e-01 -1.88190592e-03 -6.61716074e+00] [-1.04521240e-02 -1.20492574e-04 9.99945368e-01 -1.24219838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.178623853000005 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:51.66, Y:-6.62, Z:-1.24 [[ 9.81623963e-01 1.90532185e-01 1.05774539e-02 5.16626015e+01] [-1.90522384e-01 9.81680943e-01 -1.93594586e-03 -6.62298010e+00] [-1.07525449e-02 -1.14870879e-04 9.99942183e-01 -1.24238255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208623853000006 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:51.69, Y:-6.63, Z:-1.24 [[ 9.81864333e-01 1.89274125e-01 1.08507056e-02 5.16926268e+01] [-1.89263740e-01 9.81924282e-01 -1.98549052e-03 -6.62889153e+00] [-1.10303733e-02 -1.04162790e-04 9.99939158e-01 -1.24386290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.238623853 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:51.72, Y:-6.63, Z:-1.24 [[ 9.82167564e-01 1.87698866e-01 1.07708461e-02 5.17230449e+01] [-1.87688538e-01 9.82226618e-01 -1.97087763e-03 -6.63452552e+00] [-1.09493433e-02 -8.58322840e-05 9.99940050e-01 -1.24484025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.268623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:51.75, Y:-6.64, Z:-1.25 [[ 9.82689816e-01 1.84921543e-01 1.11690421e-02 5.17532401e+01] [-1.84910258e-01 9.82753285e-01 -2.04374057e-03 -6.64073014e+00] [-1.13543445e-02 -5.69074095e-05 9.99935536e-01 -1.25129214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.298623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:51.78, Y:-6.65, Z:-1.25 [[ 9.82951953e-01 1.83544919e-01 1.08037759e-02 5.17833356e+01] [-1.83534278e-01 9.83011323e-01 -1.97680153e-03 -6.64634566e+00] [-1.09830659e-02 -3.97622863e-05 9.99939684e-01 -1.25209464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:51.81, Y:-6.65, Z:-1.25 [[ 9.83326268e-01 1.81578926e-01 9.92692575e-03 5.18144324e+01] [-1.81569842e-01 9.83376374e-01 -1.81635349e-03 -6.65281692e+00] [-1.00917158e-02 -1.63622466e-05 9.99949077e-01 -1.25230724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.358623853000005 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:51.84, Y:-6.66, Z:-1.25 [[ 9.83502982e-01 1.80604869e-01 1.01865970e-02 5.18439161e+01] [-1.80595251e-01 9.83555734e-01 -1.86384175e-03 -6.65799800e+00] [-1.03557048e-02 -6.55712908e-06 9.99946378e-01 -1.25338065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388623853000006 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:51.87, Y:-6.66, Z:-1.25 [[ 9.83687841e-01 1.79611515e-01 9.89623108e-03 5.18738274e+01] [-1.79602378e-01 9.83737619e-01 -1.81166750e-03 -6.66310520e+00] [-1.00606911e-02 4.72865398e-06 9.99949390e-01 -1.25324121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:51.90, Y:-6.67, Z:-1.25 [[ 9.83965351e-01 1.78140102e-01 8.84833510e-03 5.19025242e+01] [-1.78132735e-01 9.84005134e-01 -1.62016448e-03 -6.66760602e+00] [-8.99542343e-03 1.80075806e-05 9.99959540e-01 -1.25451612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.448623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:51.93, Y:-6.67, Z:-1.25 [[ 9.84080832e-01 1.77503858e-01 8.79183223e-03 5.19317592e+01] [-1.77496561e-01 9.84120104e-01 -1.60971322e-03 -6.67240216e+00] [-8.93794916e-03 2.35679391e-05 9.99960055e-01 -1.25499946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.478623853 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:51.96, Y:-6.68, Z:-1.26 [[ 9.84156790e-01 1.77079742e-01 8.84178908e-03 5.19617104e+01] [-1.77072347e-01 9.84196507e-01 -1.61862887e-03 -6.67774467e+00] [-8.98868431e-03 2.73482516e-05 9.99959601e-01 -1.25606087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508623853 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:51.99, Y:-6.68, Z:-1.26 [[ 9.84411395e-01 1.75665151e-01 8.71557266e-03 5.19905604e+01] [-1.75657908e-01 9.84449975e-01 -1.59564661e-03 -6.68345134e+00] [-8.86034479e-03 3.98134415e-05 9.99960746e-01 -1.25678838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.538623853000004 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:52.02, Y:-6.69, Z:-1.26 [[ 9.84494689e-01 1.75190959e-01 8.85073707e-03 5.20205648e+01] [-1.75183473e-01 9.84534472e-01 -1.62016031e-03 -6.68901607e+00] [-8.99769318e-03 4.45363613e-05 9.99959519e-01 -1.25771428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568623853000005 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:52.05, Y:-6.69, Z:-1.26 [[ 9.84578218e-01 1.74720554e-01 8.85776919e-03 5.20492184e+01] [-1.74713036e-01 9.84618061e-01 -1.62157047e-03 -6.69422396e+00] [-9.00484122e-03 4.89952141e-05 9.99959454e-01 -1.25844861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59862385300001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:52.08, Y:-6.70, Z:-1.26 [[ 9.84763932e-01 1.73687817e-01 8.51701750e-03 5.20793497e+01] [-1.73680830e-01 9.84800761e-01 -1.55896826e-03 -6.69979746e+00] [-8.65833911e-03 5.59730505e-05 9.99962514e-01 -1.25902611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:52.11, Y:-6.71, Z:-1.26 [[ 9.84867203e-01 1.73089279e-01 8.75753667e-03 5.21079161e+01] [-1.73081866e-01 9.84906136e-01 -1.60311648e-03 -6.70521375e+00] [-8.90283388e-03 6.30860515e-05 9.99960367e-01 -1.25964603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.658623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:52.14, Y:-6.71, Z:-1.25 [[ 9.84921807e-01 1.72777812e-01 8.76704235e-03 5.21372916e+01] [-1.72770372e-01 9.84960823e-01 -1.60474611e-03 -6.70994616e+00] [-8.91245778e-03 6.58642703e-05 9.99960281e-01 -1.25412974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.688623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:52.17, Y:-6.71, Z:-1.26 [[ 9.85010191e-01 1.72258105e-01 9.05915357e-03 5.21667908e+01] [-1.72250139e-01 9.85051846e-01 -1.65821378e-03 -6.71493780e+00] [-9.20937671e-03 7.29170160e-05 9.99957590e-01 -1.26000444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.718623853000004 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:52.20, Y:-6.72, Z:-1.26 [[ 9.85087408e-01 1.71839609e-01 8.59927926e-03 5.21969857e+01] [-1.71832418e-01 9.85124938e-01 -1.57362570e-03 -6.71917374e+00] [-8.74177567e-03 7.25239146e-05 9.99961787e-01 -1.25794558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748623853000005 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:52.23, Y:-6.73, Z:-1.26 [[ 9.85099347e-01 1.71764333e-01 8.73449814e-03 5.22263329e+01] [-1.71756912e-01 9.85138066e-01 -1.59837009e-03 -6.72519619e+00] [-8.87922958e-03 7.43429089e-05 9.99960576e-01 -1.26159819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.778623853000006 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:52.26, Y:-6.73, Z:-1.26 [[ 9.85192344e-01 1.71241991e-01 8.49861666e-03 5.22561742e+01] [-1.71234946e-01 9.85228996e-01 -1.55520495e-03 -6.73128749e+00] [-8.63939995e-03 7.69158420e-05 9.99962677e-01 -1.26218562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:52.29, Y:-6.74, Z:-1.26 [[ 9.85260224e-01 1.70862168e-01 8.27105188e-03 5.22853390e+01] [-1.70855480e-01 9.85294937e-01 -1.51368714e-03 -6.73668266e+00] [-8.40805741e-03 7.82211847e-05 9.99964649e-01 -1.26253032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.838623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:52.31, Y:-6.74, Z:-1.26 [[ 9.85265838e-01 1.70819263e-01 8.48574741e-03 5.23144218e+01] [-1.70812223e-01 9.85302376e-01 -1.55287291e-03 -6.74202854e+00] [-8.62628769e-03 8.05232502e-05 9.99962790e-01 -1.26293720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.868623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:52.34, Y:-6.75, Z:-1.26 [[ 9.85049961e-01 1.72014821e-01 9.35281626e-03 5.23449197e+01] [-1.72006325e-01 9.85094359e-01 -1.71130062e-03 -6.74707498e+00] [-9.50777560e-03 7.69730516e-05 9.99954797e-01 -1.26302000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.898623853000004 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:52.37, Y:-6.75, Z:-1.26 [[ 9.84864967e-01 1.73056961e-01 9.60649746e-03 5.23742858e+01] [-1.73048047e-01 9.84911815e-01 -1.75782546e-03 -6.75190384e+00] [-9.76575678e-03 6.88350932e-05 9.99952311e-01 -1.26333774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928623853000005 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:52.40, Y:-6.76, Z:-1.26 [[ 9.84732465e-01 1.73814149e-01 9.51912332e-03 5.24030051e+01] [-1.73805433e-01 9.84778472e-01 -1.74172868e-03 -6.75634728e+00] [-9.67696480e-03 6.06614255e-05 9.99953175e-01 -1.26407742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.958623853000006 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:52.43, Y:-6.76, Z:-1.26 [[ 9.84610629e-01 1.74507775e-01 9.43109448e-03 5.24321923e+01] [-1.74499251e-01 9.84655794e-01 -1.72562481e-03 -6.76117326e+00] [-9.58751678e-03 5.33496068e-05 9.99954037e-01 -1.26456383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:52.46, Y:-6.77, Z:-1.26 [[ 9.84565545e-01 1.74757925e-01 9.50548618e-03 5.24625620e+01] [-1.74749282e-01 9.84611428e-01 -1.73879791e-03 -6.76571403e+00] [-9.66307904e-03 5.08836225e-05 9.99953310e-01 -1.26061070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.018623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:52.49, Y:-6.77, Z:-1.27 [[ 9.84564879e-01 1.74743532e-01 9.83346802e-03 5.24917933e+01] [-1.74734282e-01 9.84613983e-01 -1.79868151e-03 -6.77097574e+00] [-9.99647807e-03 5.26746660e-05 9.99950033e-01 -1.26578466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.048623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:52.52, Y:-6.78, Z:-1.27 [[ 9.84675322e-01 1.74141349e-01 9.44994608e-03 5.25210534e+01] [-1.74132775e-01 9.84720665e-01 -1.72897017e-03 -6.77549529e+00] [-9.60664238e-03 5.69289259e-05 9.99953854e-01 -1.26664346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.078623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:52.55, Y:-6.78, Z:-1.27 [[ 9.84773550e-01 1.73578299e-01 9.57236389e-03 5.25501186e+01] [-1.73569477e-01 9.84820070e-01 -1.75114476e-03 -6.78106998e+00] [-9.73101680e-03 6.30108445e-05 9.99952651e-01 -1.26755560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108623853000005 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:52.58, Y:-6.79, Z:-1.27 [[ 9.84858007e-01 1.73105330e-01 9.44721806e-03 5.25796438e+01] [-1.73096720e-01 9.84903315e-01 -1.72782929e-03 -6.78672800e+00] [-9.60369285e-03 6.63840556e-05 9.99953881e-01 -1.26773360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.138623853000006 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:52.61, Y:-6.79, Z:-1.27 [[ 9.84918299e-01 1.72788220e-01 8.95400809e-03 5.26096797e+01] [-1.72780472e-01 9.84958997e-01 -1.63762468e-03 -6.79178488e+00] [-9.10229308e-03 6.58487661e-05 9.99958571e-01 -1.26835094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16862385300001 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:52.64, Y:-6.80, Z:-1.27 [[ 9.84857285e-01 1.73179507e-01 8.06145074e-03 5.26392494e+01] [-1.73173239e-01 9.84890276e-01 -1.47451461e-03 -6.79552845e+00] [-8.19500016e-03 5.61589168e-05 9.99966419e-01 -1.26947716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.198623853 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:52.67, Y:-6.80, Z:-1.27 [[ 9.84731227e-01 1.73900233e-01 7.94483291e-03 5.26677796e+01] [-1.73894169e-01 9.84763274e-01 -1.45309045e-03 -6.80097270e+00] [-8.07647244e-03 4.93434279e-05 9.99967384e-01 -1.26940381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.228623853 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:52.70, Y:-6.80, Z:-1.26 [[ 9.84479573e-01 1.75334951e-01 7.59107275e-03 5.26965524e+01] [-1.75329458e-01 9.84508839e-01 -1.38844271e-03 -6.80496909e+00] [-7.71692075e-03 3.59548221e-05 9.99970223e-01 -1.26217385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.258623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:52.73, Y:-6.81, Z:-1.27 [[ 9.84354959e-01 1.76009479e-01 8.12263769e-03 5.27251162e+01] [-1.76003213e-01 9.84388471e-01 -1.48544302e-03 -6.81017182e+00] [-8.25728295e-03 3.25928699e-05 9.99965908e-01 -1.27030543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288623853000004 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:52.75, Y:-6.81, Z:-1.27 [[ 9.84316758e-01 1.76221763e-01 8.14920311e-03 5.27542349e+01] [-1.76215465e-01 9.84350491e-01 -1.49010430e-03 -6.81460753e+00] [-8.28426089e-03 3.07190158e-05 9.99965684e-01 -1.27088693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.318623853000005 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:52.78, Y:-6.82, Z:-1.26 [[ 9.84310771e-01 1.76266915e-01 7.89184438e-03 5.27844670e+01] [-1.76261014e-01 9.84342407e-01 -1.44260237e-03 -6.81870860e+00] [-8.02256017e-03 2.89445564e-05 9.99967818e-01 -1.26248855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:52.81, Y:-6.82, Z:-1.27 [[ 9.84200663e-01 1.76831797e-01 8.92020132e-03 5.28126651e+01] [-1.76824278e-01 9.84241086e-01 -1.63095387e-03 -6.82262459e+00] [-9.06803314e-03 2.78777254e-05 9.99958884e-01 -1.27175458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.378623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:52.84, Y:-6.83, Z:-1.27 [[ 9.84156703e-01 1.77066781e-01 9.10706028e-03 5.28417384e+01] [-1.77058957e-01 9.84198839e-01 -1.66464340e-03 -6.82698609e+00] [-9.25791121e-03 2.57833661e-05 9.99957144e-01 -1.27226972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.408623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:52.87, Y:-6.83, Z:-1.27 [[ 9.84058830e-01 1.77622000e-01 8.86816761e-03 5.28707821e+01] [-1.77614606e-01 9.84098788e-01 -1.62077318e-03 -6.83147454e+00] [-9.01503797e-03 1.98200681e-05 9.99959364e-01 -1.27332115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.438623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:52.90, Y:-6.84, Z:-1.27 [[ 9.83806654e-01 1.79068708e-01 7.67238407e-03 5.28988073e+01] [-1.79063218e-01 9.83836571e-01 -1.40223918e-03 -6.83592949e+00] [-7.79946919e-03 5.69045745e-06 9.99969584e-01 -1.27437967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468623853000004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:52.93, Y:-6.84, Z:-1.28 [[ 9.83707762e-01 1.79629083e-01 7.24099173e-03 5.29281768e+01] [-1.79624210e-01 9.83734412e-01 -1.32302937e-03 -6.84067286e+00] [-7.36086729e-03 8.16835641e-07 9.99972908e-01 -1.27512968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.498623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:52.96, Y:-6.84, Z:-1.28 [[ 9.83608373e-01 1.80178555e-01 7.08914574e-03 5.29564179e+01] [-1.80173898e-01 9.83633920e-01 -1.29541014e-03 -6.84478147e+00] [-7.20652934e-03 -3.10276255e-06 9.99974033e-01 -1.27517938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528623853000006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:52.98, Y:-6.85, Z:-1.28 [[ 9.83502044e-01 1.80768483e-01 6.81802023e-03 5.29843263e+01] [-1.80764191e-01 9.83525676e-01 -1.24571839e-03 -6.84732020e+00] [-6.93088458e-03 -7.28732765e-06 9.99975981e-01 -1.27667434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.558623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:53.01, Y:-6.85, Z:-1.28 [[ 9.83480517e-01 1.80896626e-01 6.51788294e-03 5.30125264e+01] [-1.80892710e-01 9.83502115e-01 -1.19038544e-03 -6.85147979e+00] [-6.62568837e-03 -8.31662192e-06 9.99978050e-01 -1.27704827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.588623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:53.04, Y:-6.86, Z:-1.28 [[ 9.83524095e-01 1.80665022e-01 6.36429157e-03 5.30399700e+01] [-1.80661284e-01 9.83544686e-01 -1.16220222e-03 -6.85543462e+00] [-6.46953444e-03 -6.72719754e-06 9.99979072e-01 -1.27776318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.618623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:53.07, Y:-6.86, Z:-1.28 [[ 9.83615664e-01 1.80154522e-01 6.67633964e-03 5.30689373e+01] [-1.80150401e-01 9.83638322e-01 -1.21860617e-03 -6.85928249e+00] [-6.78664093e-03 -4.10514854e-06 9.99976970e-01 -1.27752192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648623853000004 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:53.10, Y:-6.86, Z:-1.28 [[ 9.83710869e-01 1.79622453e-01 6.97854424e-03 5.30971779e+01] [-1.79617939e-01 9.83735622e-01 -1.27339189e-03 -6.86371475e+00] [-7.09377233e-03 -8.22285237e-07 9.99974839e-01 -1.27764586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.678623853000005 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:53.13, Y:-6.87, Z:-1.27 [[ 9.83811645e-01 1.79075257e-01 6.83364281e-03 5.31253025e+01] [-1.79070916e-01 9.83835379e-01 -1.24683697e-03 -6.86786831e+00] [-6.94645721e-03 2.94605905e-06 9.99975873e-01 -1.27189875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708623853000006 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:53.15, Y:-6.87, Z:-1.27 [[ 9.84064090e-01 1.77675686e-01 7.01547889e-03 5.31544686e+01] [-1.77671081e-01 9.84089097e-01 -1.27931407e-03 -6.87144139e+00] [-7.13115929e-03 1.24793138e-05 9.99974573e-01 -1.27075863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.738623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:53.18, Y:-6.88, Z:-1.28 [[ 9.84228353e-01 1.76731694e-01 7.77538405e-03 5.31835206e+01] [-1.76726014e-01 9.84259065e-01 -1.41715341e-03 -6.87627861e+00] [-7.90344817e-03 2.06899399e-05 9.99968767e-01 -1.27814761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.768623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:53.21, Y:-6.88, Z:-1.28 [[ 9.84448064e-01 1.75491624e-01 8.04355511e-03 5.32125824e+01] [-1.75485505e-01 9.84480924e-01 -1.46581243e-03 -6.88075654e+00] [-8.17596437e-03 3.14888775e-05 9.99966576e-01 -1.27514334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.798623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:53.24, Y:-6.89, Z:-1.28 [[ 9.84973844e-01 1.72439075e-01 9.55466897e-03 5.32406757e+01] [-1.72430301e-01 9.85020183e-01 -1.74085949e-03 -6.88617940e+00] [-9.71173397e-03 6.71866196e-05 9.99952838e-01 -1.27848448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:53.27, Y:-6.89, Z:-1.28 [[ 9.85275764e-01 1.70697807e-01 9.69159281e-03 5.32696777e+01] [-1.70688697e-01 9.85323425e-01 -1.76554871e-03 -6.89136619e+00] [-9.85072872e-03 8.53070070e-05 9.99951477e-01 -1.27878377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.858623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:53.30, Y:-6.90, Z:-1.28 [[ 9.85603435e-01 1.68807587e-01 9.47986332e-03 5.32991202e+01] [-1.68798787e-01 9.85649019e-01 -1.72663809e-03 -6.89664636e+00] [-9.63528759e-03 1.01591009e-04 9.99953574e-01 -1.27594372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888623853000006 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:53.33, Y:-6.90, Z:-1.28 [[ 9.86304428e-01 1.64634113e-01 9.95914723e-03 5.33277211e+01] [-1.64624188e-01 9.86354696e-01 -1.81389374e-03 -6.90418731e+00] [-1.01218804e-02 1.49534908e-04 9.99948761e-01 -1.27975909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:53.36, Y:-6.91, Z:-1.28 [[ 9.86611583e-01 1.62810885e-01 9.49733843e-03 5.33575740e+01] [-1.62801779e-01 9.86657281e-01 -1.72937739e-03 -6.91153637e+00] [-9.65217957e-03 1.60040170e-04 9.99953404e-01 -1.28063028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.948623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:53.39, Y:-6.92, Z:-1.28 [[ 9.86927548e-01 1.60908259e-01 9.08558865e-03 5.33870551e+01] [-1.60899845e-01 9.86969353e-01 -1.65440157e-03 -6.91903484e+00] [-9.23340442e-03 1.70904679e-04 9.99957357e-01 -1.28122432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.978623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:53.42, Y:-6.93, Z:-1.28 [[ 9.87194530e-01 1.59277710e-01 8.80744235e-03 5.34165952e+01] [-1.59269738e-01 9.87233801e-01 -1.60375370e-03 -6.92670281e+00] [-8.95044700e-03 1.80457843e-04 9.99959928e-01 -1.28152497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:53.45, Y:-6.94, Z:-1.28 [[ 9.87499675e-01 1.57394897e-01 8.44030342e-03 5.34451424e+01] [-1.57387509e-01 9.87535726e-01 -1.53677528e-03 -6.93667610e+00] [-8.57698175e-03 1.89166763e-04 9.99963199e-01 -1.28143450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.038623853000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:53.48, Y:-6.94, Z:-1.28 [[ 9.87560193e-01 1.57017855e-01 8.38198615e-03 5.34757505e+01] [-1.57010554e-01 9.87595746e-01 -1.52611803e-03 -6.94361484e+00] [-8.51764164e-03 1.91073127e-04 9.99963706e-01 -1.28246179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068623853000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:53.51, Y:-6.95, Z:-1.28 [[ 9.87554532e-01 1.57053460e-01 8.38197240e-03 5.35070547e+01] [-1.57046160e-01 9.87590084e-01 -1.52619360e-03 -6.94936532e+00] [-8.51764681e-03 1.90842824e-04 9.99963706e-01 -1.28307605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:53.54, Y:-6.96, Z:-1.28 [[ 9.87452337e-01 1.57716647e-01 7.95873917e-03 5.35373723e+01] [-1.57710096e-01 9.87484394e-01 -1.44803149e-03 -6.95689171e+00] [-8.08750940e-03 1.74688563e-04 9.99967280e-01 -1.28397620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:53.57, Y:-6.96, Z:-1.28 [[ 9.87342116e-01 1.58397539e-01 8.10965402e-03 5.35658839e+01] [-1.58390734e-01 9.87375404e-01 -1.47871470e-03 -6.96430241e+00] [-8.24149769e-03 1.75503255e-04 9.99966023e-01 -1.28477664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.158623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:53.59, Y:-6.97, Z:-1.28 [[ 9.87078746e-01 1.60023529e-01 8.24738141e-03 5.35939168e+01] [-1.60016548e-01 9.87113187e-01 -1.50373480e-03 -6.97465826e+00] [-8.38173190e-03 1.64587157e-04 9.99964859e-01 -1.28470937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.188623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:53.62, Y:-6.98, Z:-1.28 [[ 9.86910303e-01 1.61054631e-01 8.33418867e-03 5.36225286e+01] [-1.61047540e-01 9.86945480e-01 -1.51946902e-03 -6.98201422e+00] [-8.47010736e-03 1.57379046e-04 9.99964116e-01 -1.28478007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.218623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.65, Y:-6.99, Z:-1.29 [[ 9.86660166e-01 1.62540183e-01 9.07780595e-03 5.36532025e+01] [-1.62531837e-01 9.86701913e-01 -1.65458050e-03 -6.98971500e+00] [-9.22602431e-03 1.57076187e-04 9.99957427e-01 -1.28525847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248623853000005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:53.68, Y:-7.00, Z:-1.29 [[ 9.86363321e-01 1.64300012e-01 9.63868575e-03 5.36848150e+01] [-1.64290698e-01 9.86410404e-01 -1.75565807e-03 -6.99760800e+00] [-9.79615454e-03 1.48170317e-04 9.99952006e-01 -1.28526893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.278623853000006 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:53.72, Y:-7.01, Z:-1.29 [[ 9.85576792e-01 1.68966241e-01 9.42313679e-03 5.37153460e+01] [-1.68957533e-01 9.85621834e-01 -1.71846928e-03 -7.00651163e+00] [-9.57801265e-03 1.01573497e-04 9.99954125e-01 -1.28508045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:53.75, Y:-7.01, Z:-1.29 [[ 9.85077957e-01 1.71859395e-01 9.26108564e-03 5.37454193e+01] [-1.71851103e-01 9.85121486e-01 -1.68972468e-03 -7.01278256e+00] [-9.41368951e-03 7.29827480e-05 9.99955688e-01 -1.28548831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:53.78, Y:-7.02, Z:-1.29 [[ 9.84512624e-01 1.75060950e-01 9.41050189e-03 5.37767781e+01] [-1.75052523e-01 9.84557597e-01 -1.71829323e-03 -7.01892089e+00] [-9.56598717e-03 4.43492810e-05 9.99954244e-01 -1.28625330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.368623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:53.81, Y:-7.03, Z:-1.29 [[ 9.83352574e-01 1.81445655e-01 9.75651517e-03 5.38066903e+01] [-1.81436881e-01 9.83400973e-01 -1.78442875e-03 -7.02525851e+00] [-9.91834335e-03 -1.54690733e-05 9.99950812e-01 -1.28632839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.398623853000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:53.84, Y:-7.03, Z:-1.29 [[ 9.82847513e-01 1.84165599e-01 9.68493559e-03 5.38368354e+01] [-1.84157075e-01 9.82895229e-01 -1.77233396e-03 -7.03084800e+00] [-9.84567992e-03 -4.16153882e-05 9.99951529e-01 -1.28691390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428623853000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:53.87, Y:-7.04, Z:-1.29 [[ 9.81847805e-01 1.89417906e-01 9.78490159e-03 5.38668043e+01] [-1.89409464e-01 9.81896557e-01 -1.79086104e-03 -7.03561906e+00] [-9.94698233e-03 -9.49999825e-05 9.99950523e-01 -1.28773247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.458623853000006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:53.90, Y:-7.04, Z:-1.29 [[ 9.81409417e-01 1.91678981e-01 9.73259762e-03 5.38963809e+01] [-1.91670740e-01 9.81457668e-01 -1.78128822e-03 -7.04074818e+00] [-9.89356808e-03 -1.17281161e-04 9.99951051e-01 -1.28818781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:53.93, Y:-7.05, Z:-1.29 [[ 9.80989900e-01 1.93809366e-01 9.83599892e-03 5.39250561e+01] [-1.93801054e-01 9.81039199e-01 -1.80032720e-03 -7.04565478e+00] [-9.99842077e-03 -1.40124165e-04 9.99950005e-01 -1.28898616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.518623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.95, Y:-7.05, Z:-1.29 [[ 9.80649975e-01 1.95507395e-01 1.01234734e-02 5.39537761e+01] [-1.95498682e-01 9.80702214e-01 -1.85280693e-03 -7.05012589e+00] [-1.02903502e-02 -1.62170631e-04 9.99947040e-01 -1.28946500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.548623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:53.98, Y:-7.05, Z:-1.28 [[ 9.79906279e-01 1.99206674e-01 1.00192912e-02 5.39841308e+01] [-1.99198335e-01 9.79957479e-01 -1.83351473e-03 -7.05317995e+00] [-1.01837277e-02 -1.99153540e-04 9.99948125e-01 -1.28399090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.578623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:54.01, Y:-7.06, Z:-1.29 [[ 9.79582387e-01 2.00782617e-01 1.02316776e-02 5.40130315e+01] [-2.00774006e-01 9.79635796e-01 -1.87249108e-03 -7.05791123e+00] [-1.03992813e-02 -2.19995611e-04 9.99945902e-01 -1.29043109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608623853000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.04, Y:-7.06, Z:-1.29 [[ 9.79098418e-01 2.03117856e-01 1.04606070e-02 5.40430696e+01] [-2.03108989e-01 9.79154265e-01 -1.91435320e-03 -7.06028573e+00] [-1.06313873e-02 -2.50303118e-04 9.99943454e-01 -1.29004200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.638623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.07, Y:-7.06, Z:-1.29 [[ 9.78948439e-01 2.03810158e-01 1.10169061e-02 5.40720035e+01] [-2.03800369e-01 9.79010391e-01 -2.01595836e-03 -7.06275881e+00] [-1.11965384e-02 -2.71730235e-04 9.99937280e-01 -1.29084874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:54.10, Y:-7.07, Z:-1.29 [[ 9.78890599e-01 2.04095618e-01 1.08707477e-02 5.41009530e+01] [-2.04086109e-01 9.78950920e-01 -1.98881946e-03 -7.06537697e+00] [-1.10478378e-02 -2.71731930e-04 9.99938934e-01 -1.29145288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.698623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:54.13, Y:-7.07, Z:-1.29 [[ 9.78904937e-01 2.04039857e-01 1.06236282e-02 5.41300062e+01] [-2.04030777e-01 9.78962546e-01 -1.94314168e-03 -7.06906689e+00] [-1.07966125e-02 -2.65396140e-04 9.99941680e-01 -1.29273769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.728623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:54.16, Y:-7.07, Z:-1.29 [[ 9.79052798e-01 2.03337537e-01 1.04625810e-02 5.41576698e+01] [-2.03328689e-01 9.79108667e-01 -1.91374615e-03 -7.07260210e+00] [-1.06331402e-02 -2.53684357e-04 9.99943434e-01 -1.29299058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.758623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:54.19, Y:-7.07, Z:-1.29 [[ 9.79539108e-01 2.00996651e-01 1.01726109e-02 5.41866788e+01] [-2.00988168e-01 9.79591903e-01 -1.86002233e-03 -7.07326215e+00] [-1.03388656e-02 -2.22609821e-04 9.99946528e-01 -1.29415872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788623853000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.22, Y:-7.08, Z:-1.30 [[ 9.79863019e-01 1.99409016e-01 1.02228897e-02 5.42151837e+01] [-1.99400367e-01 9.79916324e-01 -1.86871744e-03 -7.07583831e+00] [-1.03902156e-02 -2.07360838e-04 9.99945999e-01 -1.29525913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.818623853000005 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:54.24, Y:-7.08, Z:-1.29 [[ 9.80218520e-01 1.97679768e-01 9.71405707e-03 5.42437593e+01] [-1.97671878e-01 9.80266636e-01 -1.77528429e-03 -7.07918737e+00] [-9.87330383e-03 -1.80029363e-04 9.99951242e-01 -1.28918504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:54.27, Y:-7.08, Z:-1.30 [[ 9.81068030e-01 1.93388955e-01 1.03069243e-02 5.42712276e+01] [-1.93379841e-01 9.81122159e-01 -1.88317744e-03 -7.08145960e+00] [-1.04765376e-02 -1.45626209e-04 9.99945109e-01 -1.29561557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.878623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.30, Y:-7.08, Z:-1.30 [[ 9.81455735e-01 1.91396623e-01 1.05816832e-02 5.42995497e+01] [-1.91386909e-01 9.81512769e-01 -1.93259706e-03 -7.08432992e+00] [-1.07559498e-02 -1.28437175e-04 9.99942145e-01 -1.29605541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.908623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:54.33, Y:-7.09, Z:-1.30 [[ 9.81864520e-01 1.89277701e-01 1.07711073e-02 5.43279923e+01] [-1.89267515e-01 9.81923592e-01 -1.96666149e-03 -7.08725723e+00] [-1.09486495e-02 -1.07625570e-04 9.99940056e-01 -1.29664112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.36, Y:-7.09, Z:-1.30 [[ 9.82719682e-01 1.84799571e-01 1.05425003e-02 5.43556942e+01] [-1.84789559e-01 9.82776228e-01 -1.92453515e-03 -7.08928236e+00] [-1.07165719e-02 -5.68654015e-05 9.99942574e-01 -1.29721263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.39, Y:-7.09, Z:-1.30 [[ 9.83153231e-01 1.82480301e-01 1.05197476e-02 5.43856437e+01] [-1.82470208e-01 9.83209509e-01 -1.91946528e-03 -7.09295391e+00] [-1.06933805e-02 -3.24120412e-05 9.99942824e-01 -1.29797690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.998623853000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.42, Y:-7.10, Z:-1.30 [[ 9.83575795e-01 1.80188761e-01 1.05198121e-02 5.44154578e+01] [-1.80178540e-01 9.83632050e-01 -1.91921871e-03 -7.09633029e+00] [-1.06934460e-02 -7.74731899e-06 9.99942823e-01 -1.29836767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.44, Y:-7.10, Z:-1.30 [[ 9.84466357e-01 1.75257520e-01 1.05258286e-02 5.44445087e+01] [-1.75247007e-01 9.84522625e-01 -1.92016024e-03 -7.09800070e+00] [-1.06994389e-02 4.57131993e-05 9.99942758e-01 -1.29919104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.058623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.47, Y:-7.10, Z:-1.30 [[ 9.84941296e-01 1.72570715e-01 1.04876854e-02 5.44737546e+01] [-1.72560130e-01 9.84997128e-01 -1.91271849e-03 -7.10248404e+00] [-1.06604192e-02 7.41590640e-05 9.99943173e-01 -1.30002100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.50, Y:-7.11, Z:-1.30 [[ 9.85412685e-01 1.69846720e-01 1.06739255e-02 5.45033529e+01] [-1.69835599e-01 9.85470487e-01 -1.94641747e-03 -7.10737557e+00] [-1.08494312e-02 1.05211933e-04 9.99941138e-01 -1.30090944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:54.53, Y:-7.11, Z:-1.30 [[ 9.86286994e-01 1.64685736e-01 1.07969706e-02 5.45320857e+01] [-1.64674050e-01 9.86346076e-01 -1.96868603e-03 -7.11158665e+00] [-1.09737641e-02 1.63708539e-04 9.99939773e-01 -1.30035884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148623853000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.56, Y:-7.12, Z:-1.30 [[ 9.86654211e-01 1.62453050e-01 1.10668609e-02 5.45615687e+01] [-1.62440637e-01 9.86716256e-01 -2.01738710e-03 -7.11671612e+00] [-1.12475822e-02 1.92755543e-04 9.99936725e-01 -1.30106428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.178623853000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:54.59, Y:-7.12, Z:-1.30 [[ 9.86916998e-01 1.60857373e-01 1.09427840e-02 5.45907909e+01] [-1.60845142e-01 9.86977640e-01 -1.99451269e-03 -7.12194489e+00] [-1.11211152e-02 2.08324835e-04 9.99938137e-01 -1.30104956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208623853000006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:54.62, Y:-7.13, Z:-1.30 [[ 9.87370179e-01 1.58115947e-01 9.97377211e-03 5.46206104e+01] [-1.58105648e-01 9.87420528e-01 -1.81769766e-03 -7.12658368e+00] [-1.01357143e-02 2.17830756e-04 9.99948609e-01 -1.29656623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:54.65, Y:-7.13, Z:-1.30 [[ 9.87557366e-01 1.56921223e-01 1.03042759e-02 5.46493374e+01] [-1.56910170e-01 9.87611094e-01 -1.87757333e-03 -7.13262086e+00] [-1.04712483e-02 2.37365701e-04 9.99945147e-01 -1.30279593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.268623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.68, Y:-7.14, Z:-1.30 [[ 9.87791196e-01 1.55446320e-01 1.02466645e-02 5.46784368e+01] [-1.55435311e-01 9.87844309e-01 -1.86705914e-03 -7.13861094e+00] [-1.04123367e-02 2.51571105e-04 9.99945759e-01 -1.30303635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.71, Y:-7.15, Z:-1.30 [[ 9.88153363e-01 1.53084891e-01 1.08603804e-02 5.47071647e+01] [-1.53072384e-01 9.88212999e-01 -1.97851169e-03 -7.14626381e+00] [-1.10352493e-02 2.92648655e-04 9.99939067e-01 -1.30308524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328623853 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:54.74, Y:-7.15, Z:-1.30 [[ 9.88286269e-01 1.52264738e-01 1.02810791e-02 5.47370142e+01] [-1.52253488e-01 9.88339703e-01 -1.87276948e-03 -7.15197604e+00] [-1.04463554e-02 2.85502206e-04 9.99945395e-01 -1.29580741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.358623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.77, Y:-7.16, Z:-1.30 [[ 9.88318687e-01 1.52042331e-01 1.04547630e-02 5.47668985e+01] [-1.52030685e-01 9.88373939e-01 -1.90440719e-03 -7.15958117e+00] [-1.06227658e-02 2.92716435e-04 9.99943534e-01 -1.30435105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.80, Y:-7.17, Z:-1.30 [[ 9.88270632e-01 1.52365770e-01 1.02873994e-02 5.47953899e+01] [-1.52354513e-01 9.88324133e-01 -1.87382323e-03 -7.16541948e+00] [-1.04527916e-02 2.84512749e-04 9.99945328e-01 -1.30482724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41862385300001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:54.82, Y:-7.17, Z:-1.31 [[ 9.87890995e-01 1.54803078e-01 1.03629002e-02 5.48248581e+01] [-1.54791787e-01 9.87945312e-01 -1.88778999e-03 -7.17230763e+00] [-1.05302143e-02 2.60838899e-04 9.99944522e-01 -1.30520206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.448623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:54.85, Y:-7.18, Z:-1.31 [[ 9.87634353e-01 1.56454192e-01 1.00234984e-02 5.48542745e+01] [-1.56443712e-01 9.87685188e-01 -1.82606831e-03 -7.17807678e+00] [-1.01857570e-02 2.35374496e-04 9.99948096e-01 -1.30506029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.88, Y:-7.18, Z:-1.31 [[ 9.87276271e-01 1.58710126e-01 9.83163667e-03 5.48841895e+01] [-1.58700157e-01 9.87325201e-01 -1.79089384e-03 -7.18436466e+00] [-9.99125563e-03 2.07824704e-04 9.99950065e-01 -1.30596047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.91, Y:-7.19, Z:-1.31 [[ 9.86362112e-01 1.64305500e-01 9.66883450e-03 5.49134613e+01] [-1.64296126e-01 9.86409489e-01 -1.76146465e-03 -7.19087832e+00] [-9.82684843e-03 1.48889950e-04 9.99951704e-01 -1.30629955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.538623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.94, Y:-7.20, Z:-1.31 [[ 9.85805885e-01 1.67600947e-01 9.83255840e-03 5.49418092e+01] [-1.67591417e-01 9.85854913e-01 -1.79115517e-03 -7.19604454e+00] [-9.99367530e-03 1.17878917e-04 9.99950055e-01 -1.30637167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568623853000005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:54.97, Y:-7.20, Z:-1.30 [[ 9.85202878e-01 1.71097111e-01 1.00532169e-02 5.49709117e+01] [-1.71087336e-01 9.85254166e-01 -1.83086305e-03 -7.20034667e+00] [-1.02182292e-02 8.37934462e-05 9.99947789e-01 -1.30183606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:55.00, Y:-7.21, Z:-1.31 [[ 9.84647568e-01 1.74219985e-01 1.07964335e-02 5.50002149e+01] [-1.74208902e-01 9.84706755e-01 -1.96592156e-03 -7.20509878e+00] [-1.09738238e-02 5.49050613e-05 9.99939784e-01 -1.30727716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.628623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.03, Y:-7.21, Z:-1.31 [[ 9.83603453e-01 1.79976573e-01 1.15187413e-02 5.50288528e+01] [-1.79964353e-01 9.83670897e-01 -2.09731590e-03 -7.20799890e+00] [-1.17081183e-02 -1.00356542e-05 9.99931458e-01 -1.30767917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.658623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:55.06, Y:-7.21, Z:-1.31 [[ 9.83147423e-01 1.82435174e-01 1.17707748e-02 5.50573066e+01] [-1.82422598e-01 9.83217883e-01 -2.14252135e-03 -7.21322334e+00] [-1.19641075e-02 -4.08409659e-05 9.99928427e-01 -1.30868797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.688623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.09, Y:-7.22, Z:-1.31 [[ 9.82390809e-01 1.86511191e-01 1.10396505e-02 5.50859486e+01] [-1.86500388e-01 9.82452833e-01 -2.00918234e-03 -7.21837715e+00] [-1.12206709e-02 -8.50968436e-05 9.99937043e-01 -1.30963755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.718623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.11, Y:-7.22, Z:-1.31 [[ 9.82094197e-01 1.88074416e-01 1.09088270e-02 5.51136117e+01] [-1.88063969e-01 9.82154776e-01 -1.98494344e-03 -7.22250390e+00] [-1.10874736e-02 -1.02155867e-04 9.99938527e-01 -1.31032426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.14, Y:-7.23, Z:-1.31 [[ 9.81812071e-01 1.89559470e-01 1.05954600e-02 5.51419524e+01] [-1.89549708e-01 9.81869235e-01 -1.92721746e-03 -7.22680383e+00] [-1.07686785e-02 -1.16200993e-04 9.99942009e-01 -1.31091372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.778623853000006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.17, Y:-7.23, Z:-1.31 [[ 9.81559776e-01 1.90879026e-01 1.02763878e-02 5.51695582e+01] [-1.90869919e-01 9.81613560e-01 -1.86884713e-03 -7.23073935e+00] [-1.04441653e-02 -1.27068134e-04 9.99945450e-01 -1.31092334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:-7.23, Z:-1.31 [[ 9.81130607e-01 1.93066040e-01 1.04036281e-02 5.51985296e+01] [-1.93056838e-01 9.81185752e-01 -1.89113615e-03 -7.23243389e+00] [-1.05730058e-02 -1.53039986e-04 9.99944093e-01 -1.31140315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.23, Y:-7.23, Z:-1.31 [[ 9.80914888e-01 1.94147689e-01 1.06140463e-02 5.52264300e+01] [-1.94138179e-01 9.80972297e-01 -1.92894891e-03 -7.23491533e+00] [-1.07865863e-02 -1.68456910e-04 9.99941809e-01 -1.31212407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.26, Y:-7.24, Z:-1.31 [[ 9.80688162e-01 1.95286848e-01 1.06665936e-02 5.52555975e+01] [-1.95277319e-01 9.80746151e-01 -1.93775380e-03 -7.23802953e+00] [-1.08396385e-02 -1.82611587e-04 9.99941233e-01 -1.31282581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.898623853000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.28, Y:-7.24, Z:-1.31 [[ 9.80387631e-01 1.96778628e-01 1.08749039e-02 5.52840258e+01] [-1.96768821e-01 9.80447923e-01 -1.97514433e-03 -7.23998439e+00] [-1.10509431e-02 -2.03434945e-04 9.99938916e-01 -1.31281894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928623853000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:55.31, Y:-7.24, Z:-1.31 [[ 9.80286859e-01 1.97282338e-01 1.08330061e-02 5.53123376e+01] [-1.97272642e-01 9.80346692e-01 -1.96698009e-03 -7.24289749e+00] [-1.10081521e-02 -2.08851003e-04 9.99939387e-01 -1.30713763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.958623853000006 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:55.34, Y:-7.25, Z:-1.31 [[ 9.80308923e-01 1.97172663e-01 1.08330796e-02 5.53403964e+01] [-1.97162965e-01 9.80368756e-01 -1.96657525e-03 -7.24782819e+00] [-1.10081676e-02 -2.08030831e-04 9.99939387e-01 -1.30768736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.37, Y:-7.25, Z:-1.31 [[ 9.80337451e-01 1.96998079e-01 1.14122337e-02 5.53673000e+01] [-1.96987323e-01 9.80403850e-01 -2.07018091e-03 -7.25062330e+00] [-1.15964195e-02 -2.18589492e-04 9.99932735e-01 -1.31442861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:-7.25, Z:-1.31 [[ 9.80451768e-01 1.96444640e-01 1.11281148e-02 5.53952139e+01] [-1.96434392e-01 9.80514895e-01 -2.01729378e-03 -7.25320569e+00] [-1.13075689e-02 -2.08085221e-04 9.99936046e-01 -1.31473950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.048623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:55.42, Y:-7.25, Z:-1.32 [[ 9.80858494e-01 1.94424578e-01 1.07562663e-02 5.54221916e+01] [-1.94414889e-01 9.80917454e-01 -1.94926095e-03 -7.25374515e+00] [-1.09299936e-02 -1.79229156e-04 9.99940250e-01 -1.31564079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:-7.26, Z:-1.32 [[ 9.81214901e-01 1.92597657e-01 1.11112883e-02 5.54508613e+01] [-1.92587214e-01 9.81277797e-01 -2.01235962e-03 -7.25680014e+00] [-1.12908363e-02 -1.65334813e-04 9.99936243e-01 -1.31602598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.48, Y:-7.26, Z:-1.32 [[ 9.81596222e-01 1.90626101e-01 1.14256815e-02 5.54788519e+01] [-1.90614931e-01 9.81662706e-01 -2.06879615e-03 -7.26035888e+00] [-1.16105320e-02 -1.47183013e-04 9.99932585e-01 -1.31666405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.138623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.51, Y:-7.26, Z:-1.32 [[ 9.82482128e-01 1.86023831e-01 1.11356769e-02 5.55073711e+01] [-1.86012934e-01 9.82545229e-01 -2.01551780e-03 -7.26448633e+00] [-1.13162405e-02 -9.11697065e-05 9.99935965e-01 -1.31697964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.54, Y:-7.27, Z:-1.32 [[ 9.82930112e-01 1.83662743e-01 1.07885114e-02 5.55356982e+01] [-1.83652378e-01 9.82989315e-01 -1.95218686e-03 -7.26889064e+00] [-1.09635354e-02 -6.24725296e-05 9.99939897e-01 -1.31768649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.56, Y:-7.27, Z:-1.32 [[ 9.83360087e-01 1.81345155e-01 1.08107986e-02 5.55642125e+01] [-1.81334613e-01 9.83419510e-01 -1.95569847e-03 -7.27293715e+00] [-1.09862067e-02 -3.72161696e-05 9.99939649e-01 -1.31805218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.228623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.59, Y:-7.28, Z:-1.32 [[ 9.84202289e-01 1.76694988e-01 1.11685001e-02 5.55935409e+01] [-1.76683444e-01 9.84265656e-01 -2.01982917e-03 -7.27520500e+00] [-1.13496648e-02 1.46314217e-05 9.99935590e-01 -1.31802925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.62, Y:-7.28, Z:-1.32 [[ 9.84628007e-01 1.74306472e-01 1.11777594e-02 5.56219314e+01] [-1.74294761e-01 9.84691450e-01 -2.02095135e-03 -7.27958272e+00] [-1.13589090e-02 4.16603914e-05 9.99935485e-01 -1.31891109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:-7.28, Z:-1.32 [[ 9.85048052e-01 1.71918123e-01 1.11576931e-02 5.56498774e+01] [-1.71906305e-01 9.85111240e-01 -2.01690421e-03 -7.28422487e+00] [-1.13383113e-02 6.86697531e-05 9.99935717e-01 -1.31909033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.318623853000005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:55.68, Y:-7.29, Z:-1.31 [[ 9.85423632e-01 1.69757345e-01 1.10774255e-02 5.56788260e+01] [-1.69745570e-01 9.85485888e-01 -2.00152824e-03 -7.28882677e+00] [-1.12564206e-02 9.20093308e-05 9.99936640e-01 -1.31444767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:-7.29, Z:-1.32 [[ 9.86193477e-01 1.65199676e-01 1.14670018e-02 5.57064346e+01] [-1.65186756e-01 9.86260130e-01 -2.07144582e-03 -7.29399831e+00] [-1.16516489e-02 1.48649528e-04 9.99932106e-01 -1.31994682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.73, Y:-7.30, Z:-1.32 [[ 9.86573832e-01 1.62912803e-01 1.14670518e-02 5.57344039e+01] [-1.62899738e-01 9.86640455e-01 -2.07058090e-03 -7.29914949e+00] [-1.16511814e-02 1.74801188e-04 9.99932107e-01 -1.32025412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.408623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:55.76, Y:-7.30, Z:-1.31 [[ 9.86885249e-01 1.61071473e-01 1.06529365e-02 5.57631569e+01] [-1.61060096e-01 9.86942728e-01 -1.92300020e-03 -7.30415931e+00] [-1.08235787e-02 1.82017551e-04 9.99941407e-01 -1.31324976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.79, Y:-7.31, Z:-1.32 [[ 9.87258873e-01 1.58730893e-01 1.11544127e-02 5.57906043e+01] [-1.58718274e-01 9.87321861e-01 -2.01326362e-03 -7.30933986e+00] [-1.13325626e-02 2.17203250e-04 9.99935761e-01 -1.32138149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:55.82, Y:-7.32, Z:-1.32 [[ 9.87776765e-01 1.55471380e-01 1.12121687e-02 5.58186556e+01] [-1.55458430e-01 9.87840364e-01 -2.02278509e-03 -7.31561244e+00] [-1.13903180e-02 2.55033975e-04 9.99935096e-01 -1.32209740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.498623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:-7.32, Z:-1.32 [[ 9.87964292e-01 1.54276630e-01 1.11928318e-02 5.58479289e+01] [-1.54263653e-01 9.88027656e-01 -2.01880188e-03 -7.32202198e+00] [-1.13702813e-02 2.67857056e-04 9.99935320e-01 -1.32239919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:55.88, Y:-7.33, Z:-1.32 [[ 9.88233313e-01 1.52586985e-01 1.05891814e-02 5.58763709e+01] [-1.52575276e-01 9.88290007e-01 -1.90969330e-03 -7.32985394e+00] [-1.07565765e-02 2.71575270e-04 9.99942109e-01 -1.32295070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.558623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.91, Y:-7.34, Z:-1.32 [[ 9.88229751e-01 1.52607401e-01 1.06273350e-02 5.59058383e+01] [-1.52595611e-01 9.88286855e-01 -1.91631247e-03 -7.33595805e+00] [-1.07952990e-02 2.72072317e-04 9.99941692e-01 -1.32358488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.588623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:55.94, Y:-7.34, Z:-1.32 [[ 9.88182346e-01 1.52898996e-01 1.08419298e-02 5.59354051e+01] [-1.52886746e-01 9.88241783e-01 -1.95474219e-03 -7.34145372e+00] [-1.10133261e-02 2.74054359e-04 9.99939314e-01 -1.32351026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.618623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:55.96, Y:-7.35, Z:-1.32 [[ 9.87991875e-01 1.54127832e-01 1.08012070e-02 5.59635299e+01] [-1.54115749e-01 9.88050881e-01 -1.94722930e-03 -7.34710415e+00] [-1.09722643e-02 2.59210627e-04 9.99939769e-01 -1.31527451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.99, Y:-7.35, Z:-1.32 [[ 9.87687472e-01 1.55996353e-01 1.17726582e-02 5.59904742e+01] [-1.55982135e-01 9.87757597e-01 -2.12201709e-03 -7.35277764e+00] [-1.19595595e-02 2.59565339e-04 9.99928448e-01 -1.32389258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.678623853000005 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:56.02, Y:-7.36, Z:-1.32 [[ 9.87395988e-01 1.57863475e-01 1.13263225e-02 5.60199112e+01] [-1.57850448e-01 9.87460922e-01 -2.04064647e-03 -7.35898346e+00] [-1.15064444e-02 2.27061050e-04 9.99933773e-01 -1.31574973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.05, Y:-7.36, Z:-1.32 [[ 9.87230815e-01 1.58858717e-01 1.17993681e-02 5.60479520e+01] [-1.58844653e-01 9.87301300e-01 -2.12564743e-03 -7.36487955e+00] [-1.19872091e-02 2.24238101e-04 9.99928126e-01 -1.32452757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.08, Y:-7.37, Z:-1.32 [[ 9.87025736e-01 1.60099435e-01 1.21806256e-02 5.60773121e+01] [-1.60084549e-01 9.87100868e-01 -2.19377010e-03 -7.37150171e+00] [-1.23747274e-02 2.15377593e-04 9.99923407e-01 -1.32499615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.768623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.11, Y:-7.38, Z:-1.33 [[ 9.86685887e-01 1.62121972e-01 1.29393638e-02 5.61052833e+01] [-1.62105351e-01 9.86770706e-01 -2.33014688e-03 -7.37837623e+00] [-1.31459532e-02 2.01582926e-04 9.99913568e-01 -1.32519262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.798623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.13, Y:-7.38, Z:-1.33 [[ 9.86578988e-01 1.62788230e-01 1.27237247e-02 5.61341121e+01] [-1.62772221e-01 9.86661014e-01 -2.29077869e-03 -7.38423878e+00] [-1.29269150e-02 1.88965192e-04 9.99916426e-01 -1.32559190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.16, Y:-7.39, Z:-1.33 [[ 9.86479127e-01 1.63427369e-01 1.22648660e-02 5.61618775e+01] [-1.63412545e-01 9.86555353e-01 -2.20796371e-03 -7.39071354e+00] [-1.24608109e-02 1.73877141e-04 9.99922346e-01 -1.32630962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.858623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.19, Y:-7.40, Z:-1.33 [[ 9.86267923e-01 1.64718783e-01 1.19710866e-02 5.61894090e+01] [-1.64704763e-01 9.86340559e-01 -2.15456960e-03 -7.39905028e+00] [-1.21624663e-02 1.53287900e-04 9.99926023e-01 -1.32723824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:-7.41, Z:-1.33 [[ 9.86163676e-01 1.65348070e-01 1.18835610e-02 5.62185174e+01] [-1.65334303e-01 9.86235264e-01 -2.13852712e-03 -7.40567545e+00] [-1.20735883e-02 1.44177489e-04 9.99927101e-01 -1.32802433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:-7.41, Z:-1.33 [[ 9.86048769e-01 1.66047583e-01 1.16629809e-02 5.62467258e+01] [-1.66034373e-01 9.86117733e-01 -2.09864839e-03 -7.41201633e+00] [-1.18495478e-02 1.32913942e-04 9.99929783e-01 -1.32894894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.948623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:56.28, Y:-7.42, Z:-1.33 [[ 9.85726273e-01 1.67946861e-01 1.17289111e-02 5.62755866e+01] [-1.67933642e-01 9.85796044e-01 -2.10999568e-03 -7.42099738e+00] [-1.19166813e-02 1.10199419e-04 9.99928988e-01 -1.32923140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.978623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.30, Y:-7.43, Z:-1.33 [[ 9.85624990e-01 1.68548505e-01 1.16094970e-02 5.63047608e+01] [-1.68535599e-01 9.85693355e-01 -2.08824690e-03 -7.42766580e+00] [-1.17953749e-02 1.01614800e-04 9.99930427e-01 -1.32995273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.33, Y:-7.43, Z:-1.33 [[ 9.85485041e-01 1.69376307e-01 1.14411627e-02 5.63333236e+01] [-1.69363831e-01 9.85551449e-01 -2.05770058e-03 -7.43443795e+00] [-1.16243802e-02 9.01139842e-05 9.99932431e-01 -1.33077057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.038623853000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:56.36, Y:-7.44, Z:-1.33 [[ 9.85192006e-01 1.71056342e-01 1.16807629e-02 5.63606002e+01] [-1.71043458e-01 9.85261246e-01 -2.10059248e-03 -7.44245053e+00] [-1.18679227e-02 7.15688288e-05 9.99929571e-01 -1.33093245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068623853000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:56.39, Y:-7.45, Z:-1.33 [[ 9.84999904e-01 1.72153122e-01 1.17682851e-02 5.63893697e+01] [-1.72140129e-01 9.85070200e-01 -2.11582290e-03 -7.44890139e+00] [-1.19568324e-02 5.82912496e-05 9.99928513e-01 -1.33151676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.42, Y:-7.46, Z:-1.33 [[ 9.84870758e-01 1.72914447e-01 1.14098345e-02 5.64171160e+01] [-1.72902288e-01 9.84936847e-01 -2.05112302e-03 -7.45532500e+00] [-1.15926352e-02 4.73045926e-05 9.99932802e-01 -1.33227886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.128623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.45, Y:-7.46, Z:-1.33 [[ 9.84708732e-01 1.73865296e-01 1.09348661e-02 5.64456866e+01] [-1.73854190e-01 9.84769444e-01 -1.96550534e-03 -7.46381716e+00] [-1.11100552e-02 3.43779823e-05 9.99938281e-01 -1.33322877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.158623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.47, Y:-7.47, Z:-1.33 [[ 9.84686732e-01 1.74000849e-01 1.07584711e-02 5.64744581e+01] [-1.73990109e-01 9.84745502e-01 -1.93354837e-03 -7.47081299e+00] [-1.09307951e-02 3.20718675e-05 9.99940257e-01 -1.33394485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.50, Y:-7.48, Z:-1.33 [[ 9.84705373e-01 1.73915255e-01 1.04313025e-02 5.65043467e+01] [-1.73905158e-01 9.84760622e-01 -1.87430411e-03 -7.47770387e+00] [-1.05983060e-02 3.15800224e-05 9.99943836e-01 -1.33453364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.218623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.53, Y:-7.49, Z:-1.33 [[ 9.84673960e-01 1.74083978e-01 1.05811583e-02 5.65324697e+01] [-1.74073597e-01 9.84730810e-01 -1.90133665e-03 -7.48579349e+00] [-1.07505849e-02 3.02964000e-05 9.99942210e-01 -1.33489366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.56, Y:-7.49, Z:-1.34 [[ 9.84705918e-01 1.73880717e-01 1.09430518e-02 5.65599620e+01] [-1.73869601e-01 9.84766721e-01 -1.96640413e-03 -7.49204969e+00] [-1.11182730e-02 3.36657338e-05 9.99938190e-01 -1.33526847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.278623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.59, Y:-7.50, Z:-1.34 [[ 9.84783682e-01 1.73414465e-01 1.13368111e-02 5.65899599e+01] [-1.73402512e-01 9.84848933e-01 -2.03645900e-03 -7.49861814e+00] [-1.15181977e-02 3.96400803e-05 9.99933663e-01 -1.33580497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.62, Y:-7.51, Z:-1.34 [[ 9.84871613e-01 1.72914178e-01 1.13398739e-02 5.66186254e+01] [-1.72902184e-01 9.84936894e-01 -2.03710415e-03 -7.50522545e+00] [-1.15213044e-02 4.55970815e-05 9.99933627e-01 -1.33605180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.65, Y:-7.51, Z:-1.34 [[ 9.85048965e-01 1.71897537e-01 1.13918073e-02 5.66484033e+01] [-1.71885368e-01 9.85114833e-01 -2.04619670e-03 -7.51179734e+00] [-1.15739745e-02 5.75189627e-05 9.99933018e-01 -1.33687091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.368623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.68, Y:-7.52, Z:-1.34 [[ 9.85220387e-01 1.70910673e-01 1.14162915e-02 5.66780212e+01] [-1.70898385e-01 9.85286525e-01 -2.05059456e-03 -7.51936206e+00] [-1.15987867e-02 6.92617869e-05 9.99932729e-01 -1.33751610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.398623853000004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:56.71, Y:-7.53, Z:-1.34 [[ 9.85559860e-01 1.68954268e-01 1.12346346e-02 5.67079519e+01] [-1.68942243e-01 9.85623887e-01 -2.01777731e-03 -7.52960365e+00] [-1.14140363e-02 9.06359479e-05 9.99934854e-01 -1.33866364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428623853000005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:56.74, Y:-7.54, Z:-1.34 [[ 9.85639025e-01 1.68509879e-01 1.09605495e-02 5.67392256e+01] [-1.68498417e-01 9.85699961e-01 -1.96758293e-03 -7.53751293e+00] [-1.11353704e-02 9.24912801e-05 9.99937996e-01 -1.33562681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.458623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:56.77, Y:-7.55, Z:-1.34 [[ 9.85728843e-01 1.67954167e-01 1.14037620e-02 5.67706072e+01] [-1.67941698e-01 9.85794800e-01 -2.04920110e-03 -7.54530814e+00] [-1.15859411e-02 1.04789478e-04 9.99932875e-01 -1.33934945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.80, Y:-7.55, Z:-1.34 [[ 9.85787185e-01 1.67584946e-01 1.17861059e-02 5.68031021e+01] [-1.67571574e-01 9.85857633e-01 -2.12014420e-03 -7.55355768e+00] [-1.19747267e-02 1.14994665e-04 9.99928294e-01 -1.33966777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.83, Y:-7.56, Z:-1.34 [[ 9.85750366e-01 1.67753794e-01 1.24451210e-02 5.68340641e+01] [-1.67738862e-01 9.85828915e-01 -2.24153186e-03 -7.56340696e+00] [-1.26447856e-02 1.22060413e-04 9.99920044e-01 -1.33949581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.87, Y:-7.57, Z:-1.34 [[ 9.85615024e-01 1.68539023e-01 1.25547529e-02 5.68656577e+01] [-1.68523857e-01 9.85694975e-01 -2.26385532e-03 -7.57150854e+00] [-1.27567048e-02 1.15514435e-04 9.99918623e-01 -1.33999747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.90, Y:-7.58, Z:-1.34 [[ 9.85492238e-01 1.69239380e-01 1.27703396e-02 5.68975518e+01] [-1.69223723e-01 9.85574969e-01 -2.30465603e-03 -7.57961116e+00] [-1.29761657e-02 1.10176217e-04 9.99915800e-01 -1.34003785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.93, Y:-7.59, Z:-1.34 [[ 9.85166601e-01 1.71091209e-01 1.32123686e-02 5.69280369e+01] [-1.71074577e-01 9.85255190e-01 -2.38732008e-03 -7.59070400e+00] [-1.34260042e-02 9.16076391e-05 9.99909863e-01 -1.34065409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.638623853000006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:56.96, Y:-7.60, Z:-1.34 [[ 9.85005557e-01 1.72008483e-01 1.33092119e-02 5.69601574e+01] [-1.71991656e-01 9.85095465e-01 -2.40728797e-03 -7.59871513e+00] [-1.35249182e-02 8.21186378e-05 9.99908531e-01 -1.34134238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:56.99, Y:-7.61, Z:-1.34 [[ 9.84777101e-01 1.73329506e-01 1.30745585e-02 5.69922150e+01] [-1.73313350e-01 9.84863888e-01 -2.36741814e-03 -7.60670153e+00] [-1.32870039e-02 6.53836407e-05 9.99911722e-01 -1.34216914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.02, Y:-7.62, Z:-1.34 [[ 9.84332353e-01 1.75904039e-01 1.21485553e-02 5.70232724e+01] [-1.75890259e-01 9.84407318e-01 -2.20204598e-03 -7.61687687e+00] [-1.23464755e-02 3.07325647e-05 9.99923779e-01 -1.34338213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.728623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.06, Y:-7.62, Z:-1.34 [[ 9.84085181e-01 1.77307735e-01 1.17611501e-02 5.70552815e+01] [-1.77294894e-01 9.84155459e-01 -2.13386982e-03 -7.62460203e+00] [-1.19531517e-02 1.47177934e-05 9.99928558e-01 -1.34428811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.09, Y:-7.63, Z:-1.34 [[ 9.83835770e-01 1.78713933e-01 1.13360877e-02 5.70864565e+01] [-1.78702071e-01 9.83901077e-01 -2.05902654e-03 -7.63205680e+00] [-1.15215657e-02 -3.83981760e-08 9.99933625e-01 -1.34497435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.12, Y:-7.64, Z:-1.35 [[ 9.83553796e-01 1.80280939e-01 1.09869342e-02 5.71170783e+01] [-1.80269872e-01 9.83615160e-01 -1.99763057e-03 -7.63990845e+00] [-1.11670498e-02 -1.58360961e-05 9.99937646e-01 -1.34583824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.818623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:-7.65, Z:-1.35 [[ 9.83076915e-01 1.82817139e-01 1.17333819e-02 5.71474493e+01] [-1.82804669e-01 9.83146933e-01 -2.13574325e-03 -7.65056941e+00] [-1.19260889e-02 -4.53171015e-05 9.99928881e-01 -1.34663158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:57.18, Y:-7.66, Z:-1.34 [[ 9.82755009e-01 1.84549078e-01 1.15857544e-02 5.71793394e+01] [-1.84537017e-01 9.82823297e-01 -2.11082205e-03 -7.65867510e+00] [-1.17762996e-02 -6.35796070e-05 9.99930655e-01 -1.33781130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.878623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:57.21, Y:-7.66, Z:-1.34 [[ 9.82739806e-01 1.84630056e-01 1.15852146e-02 5.72122624e+01] [-1.84617965e-01 9.82808088e-01 -2.11377987e-03 -7.66482450e+00] [-1.17763099e-02 -6.15431343e-05 9.99930655e-01 -1.33845803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.908623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.24, Y:-7.67, Z:-1.35 [[ 9.82485085e-01 1.85895065e-01 1.28872802e-02 5.72447859e+01] [-1.85880206e-01 9.82569599e-01 -2.35194187e-03 -7.67200379e+00] [-1.30998641e-02 -8.47424765e-05 9.99914190e-01 -1.34721715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:-7.68, Z:-1.35 [[ 9.81774125e-01 1.89603844e-01 1.30364890e-02 5.72767135e+01] [-1.89588930e-01 9.81860665e-01 -2.38179563e-03 -7.67980330e+00] [-1.32516134e-02 -1.33188692e-04 9.99912185e-01 -1.34770992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.31, Y:-7.69, Z:-1.35 [[ 9.81415092e-01 1.91474736e-01 1.27217652e-02 5.73076670e+01] [-1.91460654e-01 9.81497530e-01 -2.32717340e-03 -7.68656417e+00] [-1.29319760e-02 -1.51794380e-04 9.99916367e-01 -1.34884319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.998623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.34, Y:-7.69, Z:-1.35 [[ 9.81060933e-01 1.93330713e-01 1.19449041e-02 5.73400200e+01] [-1.93318426e-01 9.81133634e-01 -2.18584007e-03 -7.69356754e+00] [-1.21421372e-02 -1.64727762e-04 9.99926268e-01 -1.35003754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.37, Y:-7.70, Z:-1.35 [[ 9.80380663e-01 1.96850713e-01 1.01760538e-02 5.73723779e+01] [-1.96841969e-01 9.80433458e-01 -1.86361401e-03 -7.70128196e+00] [-1.03437973e-02 -1.76023323e-04 9.99946486e-01 -1.35140762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:-7.71, Z:-1.35 [[ 9.80047586e-01 1.98522689e-01 9.77088226e-03 5.74037969e+01] [-1.98514687e-01 9.80096275e-01 -1.79188147e-03 -7.70703437e+00] [-9.93213444e-03 -1.83534525e-04 9.99950658e-01 -1.35215493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.088623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:57.44, Y:-7.71, Z:-1.35 [[ 9.79729464e-01 2.00089416e-01 9.71607587e-03 5.74357624e+01] [-2.00081574e-01 9.79777621e-01 -1.78247228e-03 -7.71248949e+00] [-9.87624754e-03 -1.97667137e-04 9.99951209e-01 -1.35266874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.118623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:57.47, Y:-7.72, Z:-1.35 [[ 9.79305782e-01 2.02120169e-01 1.03741608e-02 5.74683118e+01] [-2.02111322e-01 9.79360702e-01 -1.90518402e-03 -7.71834415e+00] [-1.05451215e-02 -2.30977631e-04 9.99944372e-01 -1.35312930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148623853000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.50, Y:-7.73, Z:-1.35 [[ 9.79276302e-01 2.02235705e-01 1.08923670e-02 5.75009318e+01] [-2.02225934e-01 9.79336848e-01 -2.00265341e-03 -7.72510951e+00] [-1.10723044e-02 -2.41568049e-04 9.99938671e-01 -1.35331753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.178623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.53, Y:-7.73, Z:-1.35 [[ 9.79362244e-01 2.01784633e-01 1.15133255e-02 5.75327618e+01] [-2.01773655e-01 9.79429886e-01 -2.11927137e-03 -7.73187055e+00] [-1.17041315e-02 -2.47551408e-04 9.99931474e-01 -1.35318162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:57.56, Y:-7.74, Z:-1.35 [[ 9.79515045e-01 2.01002353e-01 1.21791404e-02 5.75636048e+01] [-2.00989975e-01 9.79590727e-01 -2.24453390e-03 -7.73840778e+00] [-1.23817296e-02 -2.49330412e-04 9.99923312e-01 -1.35342102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.60, Y:-7.75, Z:-1.35 [[ 9.80253516e-01 1.97295189e-01 1.33286332e-02 5.75951845e+01] [-1.97279985e-01 9.80344103e-01 -2.45911474e-03 -7.74602275e+00] [-1.35518185e-02 -2.18916692e-04 9.99908146e-01 -1.35410822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.63, Y:-7.75, Z:-1.35 [[ 9.80738538e-01 1.94878130e-01 1.32073882e-02 5.76273383e+01] [-1.94862948e-01 9.80827447e-01 -2.43926483e-03 -7.75290478e+00] [-1.34295283e-02 -1.81349590e-04 9.99909803e-01 -1.35433901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.66, Y:-7.76, Z:-1.36 [[ 9.81264361e-01 1.92240717e-01 1.27969171e-02 5.76592844e+01] [-1.92226209e-01 9.81347791e-01 -2.36580535e-03 -7.75965453e+00] [-1.30130304e-02 -1.38422388e-04 9.99915317e-01 -1.35509640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:57.69, Y:-7.77, Z:-1.36 [[ 9.82365304e-01 1.86533743e-01 1.27895599e-02 5.76900304e+01] [-1.86518735e-01 9.82448553e-01 -2.36696221e-03 -7.76830068e+00] [-1.30066029e-02 -6.02709709e-05 9.99915409e-01 -1.35648826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.358623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:57.72, Y:-7.78, Z:-1.36 [[ 9.82882012e-01 1.83802977e-01 1.26260142e-02 5.77205435e+01] [-1.83788092e-01 9.82963105e-01 -2.33921049e-03 -7.77650484e+00] [-1.28408600e-02 -2.13431502e-05 9.99917553e-01 -1.35700723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388623853000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:-7.78, Z:-1.36 [[ 9.83341843e-01 1.81339091e-01 1.24480411e-02 5.77525203e+01] [-1.81324399e-01 9.83420629e-01 -2.30835191e-03 -7.78445212e+00] [-1.26602548e-02 1.27654592e-05 9.99919856e-01 -1.35703898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.78, Y:-7.79, Z:-1.36 [[ 9.83671787e-01 1.79530679e-01 1.25917025e-02 5.77834425e+01] [-1.79515465e-01 9.83752374e-01 -2.33756263e-03 -7.79133618e+00] [-1.28067814e-02 3.89890888e-05 9.99917989e-01 -1.35769614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:-7.80, Z:-1.36 [[ 9.84254164e-01 1.76304001e-01 1.26744123e-02 5.78158397e+01] [-1.76288290e-01 9.84335762e-01 -2.35516171e-03 -7.79988070e+00] [-1.28911017e-02 8.37272562e-05 9.99916903e-01 -1.35863854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.478623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.85, Y:-7.81, Z:-1.36 [[ 9.84400157e-01 1.75451930e-01 1.31510786e-02 5.78466309e+01] [-1.75434902e-01 9.84487994e-01 -2.44650488e-03 -7.80748259e+00] [-1.33763230e-02 1.01181603e-04 9.99910528e-01 -1.35904009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:-7.82, Z:-1.36 [[ 9.84495486e-01 1.74880243e-01 1.36212836e-02 5.78791088e+01] [-1.74861885e-01 9.84589705e-01 -2.53650773e-03 -7.81544880e+00] [-1.38549607e-02 1.15337084e-04 9.99904009e-01 -1.35933895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.538623853000004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:57.91, Y:-7.82, Z:-1.35 [[ 9.84546970e-01 1.74604608e-01 1.34348199e-02 5.79114085e+01] [-1.74586689e-01 9.84638622e-01 -2.50430603e-03 -7.82361863e+00] [-1.36657059e-02 1.20066187e-04 9.99906613e-01 -1.35227624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:-7.83, Z:-1.36 [[ 9.84579337e-01 1.74389976e-01 1.38443180e-02 5.79420274e+01] [-1.74370887e-01 9.84676657e-01 -2.58346476e-03 -7.83336508e+00] [-1.40827071e-02 1.29580009e-04 9.99900825e-01 -1.35942354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.97, Y:-7.84, Z:-1.36 [[ 9.84540783e-01 1.74619509e-01 1.36920879e-02 5.79744827e+01] [-1.74600827e-01 9.84635979e-01 -2.55742573e-03 -7.84157130e+00] [-1.39282988e-02 1.27240056e-04 9.99902988e-01 -1.35996591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.628623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.01, Y:-7.85, Z:-1.36 [[ 9.84509755e-01 1.74809603e-01 1.34961430e-02 5.80062804e+01] [-1.74791435e-01 9.84602248e-01 -2.52331241e-03 -7.84979641e+00] [-1.37294320e-02 1.25215474e-04 9.99905739e-01 -1.36147102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.658623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:-7.86, Z:-1.36 [[ 9.84333766e-01 1.75895315e-01 1.21604403e-02 5.80375683e+01] [-1.75880623e-01 9.84408872e-01 -2.27559464e-03 -7.85884878e+00] [-1.23711118e-02 1.01158816e-04 9.99923470e-01 -1.36264973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.07, Y:-7.87, Z:-1.36 [[ 9.84166308e-01 1.76848467e-01 1.18869079e-02 5.80695844e+01] [-1.76834475e-01 9.84238087e-01 -2.22633639e-03 -7.86607422e+00] [-1.20932716e-02 8.90701535e-05 9.99926870e-01 -1.36349878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.718623853000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.10, Y:-7.87, Z:-1.36 [[ 9.83963650e-01 1.77992077e-01 1.15911857e-02 5.81022216e+01] [-1.77978827e-01 9.84031918e-01 -2.17301498e-03 -7.87367226e+00] [-1.17928761e-02 7.51821081e-05 9.99930459e-01 -1.36420872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:-7.88, Z:-1.36 [[ 9.83740048e-01 1.79233726e-01 1.14362911e-02 5.81331346e+01] [-1.79220887e-01 9.83806519e-01 -2.14614946e-03 -7.88152944e+00] [-1.16357601e-02 6.16309306e-05 9.99932300e-01 -1.36440945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.778623853000006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.17, Y:-7.89, Z:-1.36 [[ 9.83189250e-01 1.82225588e-01 1.15210062e-02 5.81655721e+01] [-1.82212742e-01 9.83256749e-01 -2.16387342e-03 -7.89070848e+00] [-1.17224202e-02 2.82229594e-05 9.99931290e-01 -1.35873375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.20, Y:-7.90, Z:-1.36 [[ 9.82859635e-01 1.83960656e-01 1.20588217e-02 5.81970775e+01] [-1.83946681e-01 9.82933608e-01 -2.26754542e-03 -7.89750386e+00] [-1.22701603e-02 1.04986287e-05 9.99924719e-01 -1.36470476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.23, Y:-7.90, Z:-1.37 [[ 9.82520162e-01 1.85774531e-01 1.19145015e-02 5.82283355e+01] [-1.85760989e-01 9.82592400e-01 -2.24302827e-03 -7.90405798e+00] [-1.21237961e-02 -9.42908007e-06 9.99926504e-01 -1.36508110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.868623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.26, Y:-7.91, Z:-1.37 [[ 9.81847891e-01 1.89289031e-01 1.20158774e-02 5.82601886e+01] [-1.89275510e-01 9.81921412e-01 -2.26299518e-03 -7.91067604e+00] [-1.22270075e-02 -5.23942894e-05 9.99925246e-01 -1.36561657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.898623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.29, Y:-7.92, Z:-1.37 [[ 9.81467282e-01 1.91259676e-01 1.19042464e-02 5.82917355e+01] [-1.91246521e-01 9.81539470e-01 -2.24443301e-03 -7.91708241e+00] [-1.21137573e-02 -7.38081458e-05 9.99926623e-01 -1.36653182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928623853000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.32, Y:-7.92, Z:-1.37 [[ 9.81037392e-01 1.93477390e-01 1.14949658e-02 5.83230564e+01] [-1.93465252e-01 9.81104730e-01 -2.16932005e-03 -7.92360958e+00] [-1.16974797e-02 -9.56923759e-05 9.99931578e-01 -1.36703193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.958623853000006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.36, Y:-7.93, Z:-1.37 [[ 9.80273630e-01 1.97350222e-01 1.07934786e-02 5.83558751e+01] [-1.97339736e-01 9.80333042e-01 -2.03866410e-03 -7.92995059e+00] [-1.09835345e-02 -1.31533558e-04 9.99939671e-01 -1.36769921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98862385300001 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:58.39, Y:-7.94, Z:-1.36 [[ 9.79884097e-01 1.99299144e-01 1.03444499e-02 5.83878050e+01] [-1.99289600e-01 9.79938687e-01 -1.95582321e-03 -7.93576823e+00] [-1.05267205e-02 -1.45061213e-04 9.99944582e-01 -1.35988861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.018623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:58.42, Y:-7.94, Z:-1.37 [[ 9.79598305e-01 2.00684029e-01 1.06339354e-02 5.84203020e+01] [-2.00674004e-01 9.79656008e-01 -2.01243823e-03 -7.94106716e+00] [-1.08214629e-02 -1.62573325e-04 9.99941433e-01 -1.36883257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.048623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:58.45, Y:-7.95, Z:-1.37 [[ 9.79344681e-01 2.01928580e-01 1.04328136e-02 5.84519240e+01] [-2.01918973e-01 9.79400235e-01 -1.97702337e-03 -7.94541842e+00] [-1.06171176e-02 -1.70395687e-04 9.99943622e-01 -1.36983583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.078623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:58.48, Y:-7.95, Z:-1.36 [[ 9.79177719e-01 2.02783651e-01 9.47548138e-03 5.84842318e+01] [-2.02775764e-01 9.79223552e-01 -1.79588522e-03 -7.94949225e+00] [-9.64279070e-03 -1.62907181e-04 9.99953494e-01 -1.36218765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108623853000005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.52, Y:-7.96, Z:-1.37 [[ 9.79308955e-01 2.02124046e-01 9.99205729e-03 5.85159499e+01] [-2.02115218e-01 9.79359915e-01 -1.89608123e-03 -7.95529066e+00] [-1.01690640e-02 -1.62697515e-04 9.99948280e-01 -1.37173790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.138623853000006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.55, Y:-7.96, Z:-1.37 [[ 9.79543288e-01 2.00983891e-01 1.00210680e-02 5.85487554e+01] [-2.00974936e-01 9.79594535e-01 -1.90318186e-03 -7.96161447e+00] [-1.01990924e-02 -1.49734488e-04 9.99947977e-01 -1.37242344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.58, Y:-7.97, Z:-1.37 [[ 9.79845796e-01 1.99518877e-01 9.71765876e-03 5.85798125e+01] [-1.99510365e-01 9.79893974e-01 -1.84744347e-03 -7.96768970e+00] [-9.89087511e-03 -1.28563931e-04 9.99951076e-01 -1.37339776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.61, Y:-7.97, Z:-1.37 [[ 9.80729108e-01 1.95123605e-01 9.85877569e-03 5.86122736e+01] [-1.95114605e-01 9.80778656e-01 -1.87596039e-03 -7.97377523e+00] [-1.00353209e-02 -8.37821614e-05 9.99949641e-01 -1.37361925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.228623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.64, Y:-7.98, Z:-1.37 [[ 9.81206655e-01 1.92689579e-01 1.02091481e-02 5.86441463e+01] [-1.92679772e-01 9.81259763e-01 -1.94488790e-03 -7.98004610e+00] [-1.03925859e-02 -5.87593764e-05 9.99945994e-01 -1.37410189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.258623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:58.68, Y:-7.99, Z:-1.37 [[ 9.81656446e-01 1.90375361e-01 1.03847920e-02 5.86766663e+01] [-1.90365065e-01 9.81711373e-01 -1.98025671e-03 -7.98632754e+00] [-1.05718605e-02 -3.29698398e-05 9.99944116e-01 -1.37499405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288623853000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:-7.99, Z:-1.38 [[ 9.82529434e-01 1.85829238e-01 1.01688146e-02 5.87092747e+01] [-1.85819103e-01 9.82582055e-01 -1.94090469e-03 -7.99325258e+00] [-1.03523716e-02 1.74359709e-05 9.99946413e-01 -1.37525972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.318623853000005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:58.74, Y:-8.00, Z:-1.38 [[ 9.82936881e-01 1.83649737e-01 1.03856932e-02 5.87404301e+01] [-1.83639019e-01 9.82991746e-01 -1.98457291e-03 -7.99975562e+00] [-1.05735170e-02 4.34913987e-05 9.99944098e-01 -1.37590364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.77, Y:-8.01, Z:-1.38 [[ 9.83281273e-01 1.81800595e-01 1.03189936e-02 5.87725913e+01] [-1.81789894e-01 9.83335416e-01 -1.97357394e-03 -8.00639600e+00] [-1.05058287e-02 6.46895530e-05 9.99944810e-01 -1.37647307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.378623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:58.80, Y:-8.01, Z:-1.38 [[ 9.83682453e-01 1.79652164e-01 9.69182138e-03 5.88034919e+01] [-1.79642602e-01 9.83730193e-01 -1.85548276e-03 -8.01292260e+00] [-9.86747881e-03 8.41418244e-05 9.99951312e-01 -1.37665600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.408623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:58.84, Y:-8.02, Z:-1.38 [[ 9.83726682e-01 1.79416475e-01 9.56788998e-03 5.88363638e+01] [-1.79407128e-01 9.83773206e-01 -1.83343859e-03 -8.01925132e+00] [-9.74158289e-03 8.70547943e-05 9.99952546e-01 -1.37747629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.438623853 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:58.87, Y:-8.03, Z:-1.37 [[ 9.83717426e-01 1.79503791e-01 8.85523429e-03 5.88677101e+01] [-1.79495768e-01 9.83757278e-01 -1.69913212e-03 -8.02510035e+00] [-9.01640184e-03 8.19887970e-05 9.99959348e-01 -1.37038484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468623853000004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:58.90, Y:-8.03, Z:-1.38 [[ 9.83695544e-01 1.79590862e-01 9.49730092e-03 5.88997571e+01] [-1.79581631e-01 9.83741386e-01 -1.82297978e-03 -8.03097595e+00] [-9.67027848e-03 8.77163041e-05 9.99953238e-01 -1.37809281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.498623853000005 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:58.93, Y:-8.04, Z:-1.38 [[ 9.83597823e-01 1.80064083e-01 1.05947630e-02 5.89320539e+01] [-1.80052595e-01 9.83654877e-01 -2.03618365e-03 -8.03703791e+00] [-1.07882338e-02 9.51712411e-05 9.99941801e-01 -1.37847934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528623853000006 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:58.96, Y:-8.04, Z:-1.38 [[ 9.83482891e-01 1.80681110e-01 1.07582498e-02 5.89630403e+01] [-1.80669276e-01 9.83541727e-01 -2.06994514e-03 -8.04356461e+00] [-1.09551876e-02 9.20704307e-05 9.99939986e-01 -1.37592689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55862385300001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:58.99, Y:-8.05, Z:-1.38 [[ 9.83335368e-01 1.81457322e-01 1.11711455e-02 5.89939192e+01] [-1.81444581e-01 9.83398817e-01 -2.15213555e-03 -8.05040966e+00] [-1.13762120e-02 8.93271835e-05 9.99935285e-01 -1.37946243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.588623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:59.03, Y:-8.06, Z:-1.38 [[ 9.83031151e-01 1.83048879e-01 1.19526031e-02 5.90263169e+01] [-1.83034397e-01 9.83103810e-01 -2.30383983e-03 -8.05536550e+00] [-1.21723650e-02 7.70088053e-05 9.99925911e-01 -1.37932559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.618623853 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:59.06, Y:-8.06, Z:-1.37 [[ 9.82809063e-01 1.84283383e-01 1.12241349e-02 5.90586812e+01] [-1.84270670e-01 9.82873151e-01 -2.16541617e-03 -8.06079371e+00] [-1.14309510e-02 5.99117786e-05 9.99934663e-01 -1.37344383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648623853000004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:59.09, Y:-8.07, Z:-1.38 [[ 9.82590803e-01 1.85451208e-01 1.10979093e-02 5.90908246e+01] [-1.85438830e-01 9.82653472e-01 -2.14320157e-03 -8.06662105e+00] [-1.13028585e-02 4.79068315e-05 9.99936120e-01 -1.38102392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.678623853000005 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:59.12, Y:-8.07, Z:-1.38 [[ 9.82405937e-01 1.86450302e-01 1.07172866e-02 5.91221235e+01] [-1.86438789e-01 9.82464393e-01 -2.07228821e-03 -8.07211681e+00] [-1.09157313e-02 3.77102960e-05 9.99940421e-01 -1.38173908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708623853000006 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:59.15, Y:-8.08, Z:-1.38 [[ 9.82119085e-01 1.87993884e-01 1.00200602e-02 5.91545132e+01] [-1.87983897e-01 9.82170199e-01 -1.93791630e-03 -8.07649915e+00] [-1.02057210e-02 1.96546192e-05 9.99947920e-01 -1.38268001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73862385300001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:59.19, Y:-8.08, Z:-1.38 [[ 9.81961087e-01 1.88829432e-01 9.79128209e-03 5.91865333e+01] [-1.88819919e-01 9.82009901e-01 -1.89547283e-03 -8.08224135e+00] [-9.97305701e-03 1.24914697e-05 9.99950268e-01 -1.38338067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.768623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:59.22, Y:-8.09, Z:-1.38 [[ 9.81945566e-01 1.88910153e-01 9.79073991e-03 5.92193835e+01] [-1.88900616e-01 9.81994376e-01 -1.89826827e-03 -8.08875509e+00] [-9.97305367e-03 1.45193160e-05 9.99950268e-01 -1.38402746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.798623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:59.25, Y:-8.09, Z:-1.38 [[ 9.81780617e-01 1.89770918e-01 9.68605067e-03 5.92510558e+01] [-1.89761627e-01 9.81828396e-01 -1.87788945e-03 -8.09444461e+00] [-9.86640840e-03 5.63473000e-06 9.99951326e-01 -1.38430657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:59.28, Y:-8.10, Z:-1.38 [[ 9.81496054e-01 1.91244771e-01 9.53585852e-03 5.92835305e+01] [-1.91235820e-01 9.81542377e-01 -1.85035367e-03 -8.09836567e+00] [-9.71371970e-03 -7.48289324e-06 9.99952821e-01 -1.37815001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.858623853000005 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:59.32, Y:-8.10, Z:-1.38 [[ 9.81364269e-01 1.91886738e-01 1.01809643e-02 5.93159064e+01] [-1.91876546e-01 9.81417077e-01 -1.97772792e-03 -8.10374422e+00] [-1.03712720e-02 -1.26167487e-05 9.99946217e-01 -1.38499839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888623853000006 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:59.35, Y:-8.11, Z:-1.39 [[ 9.81321697e-01 1.92082859e-01 1.05783390e-02 5.93480390e+01] [-1.92071845e-01 9.81378711e-01 -2.05701171e-03 -8.10917077e+00] [-1.07764734e-02 -1.32108748e-05 9.99941932e-01 -1.38579024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91862385300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:59.38, Y:-8.11, Z:-1.39 [[ 9.81419697e-01 1.91548251e-01 1.11644828e-02 5.93796321e+01] [-1.91535919e-01 9.81483198e-01 -2.17353641e-03 -8.11333942e+00] [-1.13740894e-02 -5.24802696e-06 9.99935313e-01 -1.38654715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.948623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:59.41, Y:-8.12, Z:-1.39 [[ 9.81540143e-01 1.90930026e-01 1.11656772e-02 5.94123955e+01] [-1.90917629e-01 9.81603650e-01 -2.17572994e-03 -8.11879582e+00] [-1.13756816e-02 3.84166805e-06 9.99935295e-01 -1.38716354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.978623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:59.44, Y:-8.12, Z:-1.39 [[ 9.81718230e-01 1.90028756e-01 1.08806460e-02 5.94441313e+01] [-1.90016905e-01 9.81778525e-01 -2.12237666e-03 -8.12456175e+00] [-1.10856971e-02 1.60691852e-05 9.99938552e-01 -1.38813367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:59.48, Y:-8.13, Z:-1.39 [[ 9.82246287e-01 1.87312455e-01 1.03090365e-02 5.94766706e+01] [-1.87301649e-01 9.82300383e-01 -2.01250285e-03 -8.13021810e+00] [-1.05035374e-02 4.58739151e-05 9.99944835e-01 -1.38849997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.038623853000004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:59.51, Y:-8.14, Z:-1.39 [[ 9.82543447e-01 1.85741377e-01 1.04170715e-02 5.95093707e+01] [-1.85730232e-01 9.82598665e-01 -2.03568706e-03 -8.13637461e+00] [-1.06139119e-02 6.53858707e-05 9.99943669e-01 -1.38902534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068623853000005 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:59.54, Y:-8.14, Z:-1.39 [[ 9.82902086e-01 1.83840386e-01 1.03054489e-02 5.95403582e+01] [-1.83829352e-01 9.82956105e-01 -2.01604104e-03 -8.14216455e+00] [-1.05004337e-02 8.71269452e-05 9.99944865e-01 -1.38933662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:59.57, Y:-8.15, Z:-1.39 [[ 9.83237091e-01 1.82036948e-01 1.03620840e-02 5.95726882e+01] [-1.82025673e-01 9.83291685e-01 -2.02898974e-03 -8.14891122e+00] [-1.05583022e-02 1.08812648e-04 9.99944254e-01 -1.38988985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.128623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:59.60, Y:-8.16, Z:-1.39 [[ 9.83955180e-01 1.78084788e-01 1.08633638e-02 5.96042429e+01] [-1.78072121e-01 9.84015133e-01 -2.13011808e-03 -8.15596437e+00] [-1.10690560e-02 1.61478483e-04 9.99938723e-01 -1.38936699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.158623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:59.64, Y:-8.16, Z:-1.39 [[ 9.84270377e-01 1.76304184e-01 1.13428474e-02 5.96352485e+01] [-1.76290238e-01 9.84335714e-01 -2.22568546e-03 -8.16283538e+00] [-1.15575674e-02 1.91043003e-04 9.99933191e-01 -1.38999685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.188623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:59.67, Y:-8.17, Z:-1.39 [[ 9.84550589e-01 1.74722615e-01 1.14954617e-02 5.96670830e+01] [-1.74708173e-01 9.84617673e-01 -2.25652619e-03 -8.17046165e+00] [-1.17129009e-02 2.13313085e-04 9.99931379e-01 -1.39048400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.218623853000004 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:59.70, Y:-8.18, Z:-1.39 [[ 9.84975431e-01 1.72239603e-01 1.25267649e-02 5.96987782e+01] [-1.72222219e-01 9.85055048e-01 -2.46165439e-03 -8.17954661e+00] [-1.27635473e-02 2.67281855e-04 9.99918507e-01 -1.39095846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248623853000005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:59.73, Y:-8.19, Z:-1.39 [[ 9.85100960e-01 1.71507811e-01 1.26952212e-02 5.97301428e+01] [-1.71489861e-01 9.85182719e-01 -2.49739907e-03 -8.18672111e+00] [-1.29354360e-02 2.83088506e-04 9.99916294e-01 -1.39111408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.278623853000006 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:59.76, Y:-8.19, Z:-1.39 [[ 9.85170977e-01 1.71114442e-01 1.25695713e-02 5.97617053e+01] [-1.71096779e-01 9.85251118e-01 -2.47537247e-03 -8.19425336e+00] [-1.28077562e-02 2.88051946e-04 9.99917936e-01 -1.39171745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30862385300001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:59.79, Y:-8.20, Z:-1.39 [[ 9.85198014e-01 1.71035943e-01 1.14707910e-02 5.97935026e+01] [-1.71021220e-01 9.85264754e-01 -2.25964418e-03 -8.20427810e+00] [-1.16882465e-02 2.64448288e-04 9.99931655e-01 -1.39256204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.338623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:59.82, Y:-8.21, Z:-1.39 [[ 9.85107951e-01 1.71568482e-01 1.12507821e-02 5.98242653e+01] [-1.71554328e-01 9.85172163e-01 -2.21848275e-03 -8.21254834e+00] [-1.14645790e-02 2.55324637e-04 9.99934247e-01 -1.39298104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.368623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:59.86, Y:-8.22, Z:-1.39 [[ 9.84956526e-01 1.72437460e-01 1.12233483e-02 5.98558415e+01] [-1.72423409e-01 9.85020437e-01 -2.21498218e-03 -8.22050621e+00] [-1.14371734e-02 2.46493176e-04 9.99934563e-01 -1.39326936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.398623853000004 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:59.89, Y:-8.23, Z:-1.39 [[ 9.84760831e-01 1.73545427e-01 1.13176700e-02 5.98876649e+01] [-1.73531187e-01 9.84825836e-01 -2.23580142e-03 -8.22879531e+00] [-1.15339469e-02 2.37760950e-04 9.99933454e-01 -1.39397750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428623853000005 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:59.92, Y:-8.24, Z:-1.39 [[ 9.84285623e-01 1.76250042e-01 1.08505698e-02 5.99183418e+01] [-1.76237095e-01 9.84345408e-01 -2.14555579e-03 -8.23898594e+00] [-1.10588628e-02 1.99566823e-04 9.99938829e-01 -1.39458762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.458623853000006 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:59.95, Y:-8.25, Z:-1.39 [[ 9.83952558e-01 1.78122908e-01 1.04686925e-02 5.99509280e+01] [-1.78110945e-01 9.84008231e-01 -2.07170137e-03 -8.24657909e+00] [-1.06702970e-02 1.73867163e-04 9.99943056e-01 -1.39498521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48862385300001 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:59.98, Y:-8.25, Z:-1.40 [[ 9.83355109e-01 1.81430233e-01 9.78771400e-03 5.99824460e+01] [-1.81419916e-01 9.83403810e-01 -1.93923104e-03 -8.25393120e+00] [-9.97711038e-03 1.31266498e-04 9.99950219e-01 -1.39530593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.518623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:60.01, Y:-8.26, Z:-1.40 [[ 9.82966373e-01 1.83542136e-01 9.45485915e-03 6.00147098e+01] [-1.83532603e-01 9.83011838e-01 -1.87360105e-03 -8.26178970e+00] [-9.63812320e-03 1.06411920e-04 9.99953547e-01 -1.39627376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.548623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:60.05, Y:-8.27, Z:-1.40 [[ 9.82663606e-01 1.85159810e-01 9.38524849e-03 6.00470641e+01] [-1.85150474e-01 9.82708419e-01 -1.86161373e-03 -8.26975586e+00] [-9.56765875e-03 9.16568581e-05 9.99954225e-01 -1.39662485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.578623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:60.08, Y:-8.28, Z:-1.40 [[ 9.82336433e-01 1.86890487e-01 9.33162594e-03 6.00778060e+01] [-1.86881317e-01 9.82380751e-01 -1.85291822e-03 -8.27773798e+00] [-9.51350249e-03 7.62825233e-05 9.99954743e-01 -1.39723252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608623853000005 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:60.11, Y:-8.29, Z:-1.39 [[ 9.82070012e-01 1.88301687e-01 8.99815369e-03 6.01101681e+01] [-1.88293206e-01 9.82111231e-01 -1.78821279e-03 -8.28515699e+00] [-9.17391129e-03 6.18589548e-05 9.99957917e-01 -1.39416484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.638623853000006 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:60.14, Y:-8.29, Z:-1.40 [[ 9.81574992e-01 1.90865792e-01 8.98803656e-03 6.01423377e+01] [-1.90857422e-01 9.81616141e-01 -1.78786652e-03 -8.29220286e+00] [-9.16404432e-03 3.94915722e-05 9.99958008e-01 -1.39803566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66862385300001 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:60.17, Y:-8.30, Z:-1.39 [[ 9.81359542e-01 1.91968662e-01 9.02668542e-03 6.01744836e+01] [-1.91960252e-01 9.81401055e-01 -1.79724156e-03 -8.29934557e+00] [-9.20381265e-03 3.09753547e-05 9.99957644e-01 -1.39278883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.698623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:60.21, Y:-8.31, Z:-1.40 [[ 9.81112274e-01 1.93201261e-01 9.59059720e-03 6.02053230e+01] [-1.93191805e-01 9.81159147e-01 -1.91163114e-03 -8.30668594e+00] [-9.77923171e-03 2.26999966e-05 9.99952182e-01 -1.39922786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.728623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:60.24, Y:-8.31, Z:-1.40 [[ 9.80686213e-01 1.95324774e-01 1.01382235e-02 6.02363784e+01] [-1.95314301e-01 9.80738616e-01 -2.02271521e-03 -8.31453045e+00] [-1.03380337e-02 3.50888393e-06 9.99946561e-01 -1.39905496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.758623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:60.27, Y:-8.32, Z:-1.40 [[ 9.80557309e-01 1.95960867e-01 1.03296736e-02 6.02689118e+01] [-1.95950013e-01 9.80611716e-01 -2.06256103e-03 -8.32162241e+00] [-1.05335802e-02 -1.64037758e-06 9.99944520e-01 -1.39935819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788623853000004 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:60.30, Y:-8.33, Z:-1.40 [[ 9.80376602e-01 1.96840434e-01 1.07499791e-02 6.03000925e+01] [-1.96828705e-01 9.80435538e-01 -2.14878445e-03 -8.32858456e+00] [-1.09626292e-02 -9.28648263e-06 9.99939909e-01 -1.40009096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.818623853000005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:60.33, Y:-8.34, Z:-1.40 [[ 9.80200332e-01 1.97754318e-01 1.00268789e-02 6.03325817e+01] [-1.97744148e-01 9.80251615e-01 -2.00567315e-03 -8.33552126e+00] [-1.02254947e-02 -1.67951269e-05 9.99947718e-01 -1.40071069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84862385300001 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:60.36, Y:-8.34, Z:-1.40 [[ 9.80144669e-01 1.98041039e-01 9.80689305e-03 6.03638368e+01] [-1.98031304e-01 9.80193729e-01 -1.96359186e-03 -8.34195498e+00] [-1.00015268e-02 -1.74677346e-05 9.99949983e-01 -1.40169157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.878623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:60.40, Y:-8.35, Z:-1.40 [[ 9.80080667e-01 1.98363636e-01 9.68264352e-03 6.03955711e+01] [-1.98354148e-01 9.80128495e-01 -1.94021674e-03 -8.34931583e+00] [-9.87510327e-03 -1.90235907e-05 9.99951240e-01 -1.40209184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.908623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:60.43, Y:-8.36, Z:-1.40 [[ 9.79922718e-01 1.99168351e-01 9.13431031e-03 6.04260740e+01] [-1.99159926e-01 9.79965289e-01 -1.83207404e-03 -8.35763874e+00] [-9.31619821e-03 -2.38975954e-05 9.99956603e-01 -1.40213191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.938623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:60.46, Y:-8.36, Z:-1.40 [[ 9.79875274e-01 1.99400697e-01 9.15475886e-03 6.04573421e+01] [-1.99392226e-01 9.79918038e-01 -1.83809988e-03 -8.36435436e+00] [-9.33743174e-03 -2.42791257e-05 9.99956405e-01 -1.40239712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968623853000004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:60.49, Y:-8.37, Z:-1.40 [[ 9.79847402e-01 1.99522945e-01 9.46904913e-03 6.04894294e+01] [-1.99513875e-01 9.79893154e-01 -1.90260268e-03 -8.37140983e+00] [-9.65826931e-03 -2.49463852e-05 9.99953358e-01 -1.40318353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.998623853000005 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:60.52, Y:-8.38, Z:-1.40 [[ 9.80110915e-01 1.98217804e-01 9.60707030e-03 6.05206586e+01] [-1.98208385e-01 9.80157999e-01 -1.93234956e-03 -8.37915878e+00] [-9.79947288e-03 -1.02849896e-05 9.99951984e-01 -1.39907970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028623853000006 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:60.55, Y:-8.39, Z:-1.40 [[ 9.80338677e-01 1.97077264e-01 9.83007341e-03 6.05524703e+01] [-1.97067329e-01 9.80387960e-01 -1.97886191e-03 -8.38646851e+00] [-1.00272743e-02 2.76855133e-06 9.99949726e-01 -1.40402582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:60.58, Y:-8.39, Z:-1.40 [[ 9.80546504e-01 1.96037166e-01 9.89865587e-03 6.05839610e+01] [-1.96027017e-01 9.80596466e-01 -1.99475995e-03 -8.39397968e+00] [-1.00976341e-02 1.55509128e-05 9.99949017e-01 -1.40480307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.088623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:60.62, Y:-8.40, Z:-1.41 [[ 9.80926259e-01 1.94115196e-01 1.01472062e-02 6.06156183e+01] [-1.94104409e-01 9.80978741e-01 -2.04672255e-03 -8.40321170e+00] [-1.03514935e-02 3.80664378e-05 9.99946421e-01 -1.40581411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.118623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:60.65, Y:-8.41, Z:-1.40 [[ 9.81204652e-01 1.92744084e-01 9.33536163e-03 6.06480134e+01] [-1.92734879e-01 9.81249059e-01 -1.88439325e-03 -8.41067096e+00] [-9.52352046e-03 4.97256282e-05 9.99954649e-01 -1.40176380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148623853000004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:60.68, Y:-8.42, Z:-1.41 [[ 9.81413082e-01 1.91688914e-01 9.15001773e-03 6.06802500e+01] [-1.91680008e-01 9.81455733e-01 -1.84873453e-03 -8.41870200e+00] [-9.33471928e-03 6.04967787e-05 9.99956429e-01 -1.40697142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.178623853000005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:60.71, Y:-8.43, Z:-1.41 [[ 9.81896469e-01 1.89229315e-01 8.46107823e-03 6.07109999e+01] [-1.89221590e-01 9.81932920e-01 -1.71178496e-03 -8.42730218e+00] [-8.63213115e-03 7.97769405e-05 9.99962739e-01 -1.40792190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208623853000006 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:60.74, Y:-8.43, Z:-1.41 [[ 9.82021735e-01 1.88592445e-01 8.13643073e-03 6.07416764e+01] [-1.88585277e-01 9.82055438e-01 -1.64639117e-03 -8.43477210e+00] [-8.30092298e-03 8.23808746e-05 9.99965543e-01 -1.40830048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23862385300001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:60.77, Y:-8.44, Z:-1.41 [[ 9.82042306e-01 1.88480921e-01 8.23721477e-03 6.07740410e+01] [-1.88473557e-01 9.82076848e-01 -1.66825140e-03 -8.44239126e+00] [-8.40401148e-03 8.57962827e-05 9.99964682e-01 -1.40847450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.268623853 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:60.81, Y:-8.45, Z:-1.40 [[ 9.81997241e-01 1.88717270e-01 8.19826338e-03 6.08064994e+01] [-1.88709971e-01 9.82031458e-01 -1.66195830e-03 -8.44973853e+00] [-8.36459277e-03 8.49444229e-05 9.99965013e-01 -1.40303487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.298623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:60.84, Y:-8.46, Z:-1.41 [[ 9.81786917e-01 1.89770255e-01 9.03876817e-03 6.08375163e+01] [-1.89761405e-01 9.81828520e-01 -1.83471691e-03 -8.45797433e+00] [-9.22269507e-03 8.60917177e-05 9.99957466e-01 -1.40953745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:60.87, Y:-8.46, Z:-1.40 [[ 9.81747826e-01 1.89990193e-01 8.65640321e-03 6.08691806e+01] [-1.89982065e-01 9.81785985e-01 -1.75926130e-03 -8.46487692e+00] [-8.83297775e-03 8.25895906e-05 9.99960985e-01 -1.40231469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.358623853000005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:60.90, Y:-8.47, Z:-1.41 [[ 9.81706823e-01 1.90185658e-01 9.00712553e-03 6.09015250e+01] [-1.90176863e-01 9.81748139e-01 -1.83095488e-03 -8.47276873e+00] [-9.19095009e-03 8.45140177e-05 9.99957759e-01 -1.41125515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388623853000006 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:60.93, Y:-8.48, Z:-1.41 [[ 9.81644212e-01 1.90492065e-01 9.34959585e-03 6.09334836e+01] [-1.90482583e-01 9.81688732e-01 -1.90258683e-03 -8.48052297e+00] [-9.54082059e-03 8.67281770e-05 9.99954482e-01 -1.41202042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:60.96, Y:-8.49, Z:-1.41 [[ 9.81645815e-01 1.90463832e-01 9.74795267e-03 6.09644775e+01] [-1.90453501e-01 9.81694209e-01 -1.98591095e-03 -8.48802982e+00] [-9.94775290e-03 9.29294530e-05 9.99950516e-01 -1.41255378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.448623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:61.00, Y:-8.50, Z:-1.41 [[ 9.81794511e-01 1.89671062e-01 1.02189568e-02 6.09968717e+01] [-1.89659645e-01 9.81847685e-01 -2.08389374e-03 -8.49569005e+00] [-1.04287134e-02 1.07831712e-04 9.99945614e-01 -1.41354441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.478623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:61.03, Y:-8.50, Z:-1.41 [[ 9.81906796e-01 1.89086046e-01 1.02718812e-02 6.10290095e+01] [-1.89074457e-01 9.81960515e-01 -2.09670278e-03 -8.50289397e+00] [-1.04830390e-02 1.16616345e-04 9.99945045e-01 -1.41403100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508623853 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:61.06, Y:-8.51, Z:-1.41 [[ 9.82006111e-01 1.88573582e-01 1.01981406e-02 6.10601105e+01] [-1.88562109e-01 9.82059056e-01 -2.08375719e-03 -8.51102142e+00] [-1.04081179e-02 1.23279395e-04 9.99945826e-01 -1.41465598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.538623853000004 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:61.09, Y:-8.52, Z:-1.42 [[ 9.82317944e-01 1.86998083e-01 9.11998057e-03 6.10917849e+01] [-1.86988828e-01 9.82360271e-01 -1.86465231e-03 -8.52096465e+00] [-9.30779298e-03 1.26346943e-04 9.99956674e-01 -1.41624706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568623853000005 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:61.12, Y:-8.53, Z:-1.42 [[ 9.82415102e-01 1.86498273e-01 8.88601764e-03 6.11229249e+01] [-1.86489451e-01 9.82455280e-01 -1.81859881e-03 -8.52873008e+00] [-9.06928049e-03 1.29470387e-04 9.99958865e-01 -1.41691012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59862385300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:61.15, Y:-8.54, Z:-1.42 [[ 9.82477954e-01 1.86163684e-01 8.95278723e-03 6.11538999e+01] [-1.86154700e-01 9.82518735e-01 -1.83394141e-03 -8.53612060e+00] [-9.13769447e-03 1.35203587e-04 9.99958241e-01 -1.41793949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:61.19, Y:-8.54, Z:-1.42 [[ 9.82522102e-01 1.85925654e-01 9.05373889e-03 6.11855565e+01] [-1.85916440e-01 9.82563805e-01 -1.85628249e-03 -8.54368679e+00] [-9.24100668e-03 1.40599668e-04 9.99957291e-01 -1.41838472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.658623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:61.22, Y:-8.55, Z:-1.42 [[ 9.82497536e-01 1.86014341e-01 9.86189972e-03 6.12177689e+01] [-1.86003392e-01 9.82547017e-01 -2.02407997e-03 -8.55182895e+00] [-1.00662881e-02 1.54306780e-04 9.99949322e-01 -1.41837410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.688623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:61.25, Y:-8.56, Z:-1.42 [[ 9.82473753e-01 1.86139937e-01 9.86142206e-03 6.12505298e+01] [-1.86128972e-01 9.82523231e-01 -2.02640345e-03 -8.55873651e+00] [-1.00662709e-02 1.55391857e-04 9.99949322e-01 -1.41902090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.718623853000004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:61.28, Y:-8.57, Z:-1.42 [[ 9.82389526e-01 1.86565561e-01 1.02035030e-02 6.12820863e+01] [-1.86553828e-01 9.82442500e-01 -2.09826356e-03 -8.56628549e+00] [-1.04158187e-02 1.57809597e-04 9.99945741e-01 -1.41958018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748623853000005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:61.31, Y:-8.57, Z:-1.42 [[ 9.82362806e-01 1.86696938e-01 1.03715828e-02 6.13140940e+01] [-1.86684816e-01 9.82417542e-01 -2.13348555e-03 -8.57436380e+00] [-1.05875401e-02 1.59639819e-04 9.99943938e-01 -1.42047912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.778623853000006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.34, Y:-8.58, Z:-1.42 [[ 9.82406665e-01 1.86458326e-01 1.05088951e-02 6.13445761e+01] [-1.86445843e-01 9.82462857e-01 -2.16390550e-03 -8.58409273e+00] [-1.07280773e-02 1.66495370e-04 9.99942439e-01 -1.42027216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:61.38, Y:-8.59, Z:-1.42 [[ 9.82398214e-01 1.86491759e-01 1.07038864e-02 6.13766914e+01] [-1.86478791e-01 9.82456510e-01 -2.20589109e-03 -8.59195746e+00] [-1.09274834e-02 1.71015677e-04 9.99940279e-01 -1.42104809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.838623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:61.41, Y:-8.60, Z:-1.42 [[ 9.82406713e-01 1.86437415e-01 1.08692485e-02 6.14073023e+01] [-1.86424009e-01 9.82466823e-01 -2.24275072e-03 -8.59949941e+00] [-1.10968087e-02 1.77004486e-04 9.99938413e-01 -1.42193502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.868623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:61.44, Y:-8.61, Z:-1.42 [[ 9.82420775e-01 1.86379467e-01 1.05884152e-02 6.14395118e+01] [-1.86366735e-01 9.82477819e-01 -2.18540804e-03 -8.60741763e+00] [-1.08101982e-02 1.73661902e-04 9.99941553e-01 -1.42234640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.898623853000004 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:61.47, Y:-8.62, Z:-1.42 [[ 9.82430809e-01 1.86338760e-01 1.03716970e-02 6.14712543e+01] [-1.86326521e-01 9.82485540e-01 -2.14266307e-03 -8.61624875e+00] [-1.05893035e-02 1.72496001e-04 9.99943917e-01 -1.42325271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928623853000005 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:61.50, Y:-8.62, Z:-1.42 [[ 9.82396626e-01 1.86564392e-01 9.51825659e-03 6.15031318e+01] [-1.86554079e-01 9.82442722e-01 -1.96794976e-03 -8.62399570e+00] [-9.71829127e-03 1.57637617e-04 9.99952764e-01 -1.41610795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.958623853000006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:61.53, Y:-8.63, Z:-1.42 [[ 9.82336312e-01 1.86879364e-01 9.56415552e-03 6.15333404e+01] [-1.86868946e-01 9.82382857e-01 -1.97949751e-03 -8.63262996e+00] [-9.76558967e-03 1.57288622e-04 9.99952303e-01 -1.42452189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:61.57, Y:-8.64, Z:-1.43 [[ 9.82281344e-01 1.87167793e-01 9.56965498e-03 6.15654721e+01] [-1.87157361e-01 9.82327946e-01 -1.98226577e-03 -8.64124240e+00] [-9.77155583e-03 1.56111307e-04 9.99952245e-01 -1.42522544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:61.60, Y:-8.65, Z:-1.43 [[ 9.82220230e-01 1.87489990e-01 9.53540644e-03 6.15964363e+01] [-1.87479622e-01 9.82266501e-01 -1.97779110e-03 -8.65001707e+00] [-9.73712635e-03 1.54932035e-04 9.99952581e-01 -1.42622402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.63, Y:-8.66, Z:-1.43 [[ 9.82136234e-01 1.87933011e-01 9.46580907e-03 6.16271892e+01] [-1.87922809e-01 9.82181837e-01 -1.96395136e-03 -8.65724010e+00] [-9.66623703e-03 1.50026366e-04 9.99953270e-01 -1.42722553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.66, Y:-8.67, Z:-1.43 [[ 9.82024886e-01 1.88513286e-01 9.47963559e-03 6.16588417e+01] [-1.88503064e-01 9.82070629e-01 -1.96854621e-03 -8.66711545e+00] [-9.68076880e-03 1.46221018e-04 9.99953130e-01 -1.42852334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:61.69, Y:-8.68, Z:-1.43 [[ 9.82015588e-01 1.88570577e-01 9.30170438e-03 6.16906883e+01] [-1.88560722e-01 9.82059630e-01 -1.93325240e-03 -8.67639618e+00] [-9.49938288e-03 1.44547895e-04 9.99954869e-01 -1.42898125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.138623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:61.72, Y:-8.69, Z:-1.43 [[ 9.82068803e-01 1.88310629e-01 8.94274835e-03 6.17226969e+01] [-1.88301495e-01 9.82109508e-01 -1.86028259e-03 -8.68568565e+00] [-9.13306917e-03 1.42992610e-04 9.99958282e-01 -1.42970722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:61.75, Y:-8.70, Z:-1.43 [[ 9.82248077e-01 1.87381548e-01 8.76756341e-03 6.17526550e+01] [-1.87372709e-01 9.82287195e-01 -1.82626680e-03 -8.69734737e+00] [-8.95447396e-03 1.51044942e-04 9.99959896e-01 -1.43039320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.198623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:61.78, Y:-8.71, Z:-1.43 [[ 9.82311113e-01 1.87047291e-01 8.84239922e-03 6.17844066e+01] [-1.87038283e-01 9.82350898e-01 -1.84224983e-03 -8.70665092e+00] [-9.03092665e-03 1.55795306e-04 9.99959208e-01 -1.43082888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:61.82, Y:-8.72, Z:-1.43 [[ 9.82347002e-01 1.86862160e-01 8.76931224e-03 6.18165531e+01] [-1.86853278e-01 9.82386130e-01 -1.82870120e-03 -8.71608806e+00] [-8.95656577e-03 1.57844404e-04 9.99959877e-01 -1.43107134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.258623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:61.85, Y:-8.73, Z:-1.43 [[ 9.82258335e-01 1.87306932e-01 9.20200591e-03 6.18472151e+01] [-1.87297153e-01 9.82301424e-01 -1.92089886e-03 -8.72903148e+00] [-9.39894117e-03 1.63309409e-04 9.99955816e-01 -1.42600547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:61.88, Y:-8.74, Z:-1.43 [[ 9.82125034e-01 1.87973333e-01 9.82053815e-03 6.18776314e+01] [-1.87962206e-01 9.82174118e-01 -2.05231549e-03 -8.73941146e+00] [-1.00312590e-02 1.69740414e-04 9.99949671e-01 -1.43192435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.318623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:61.91, Y:-8.75, Z:-1.43 [[ 9.81863628e-01 1.89322546e-01 1.00394406e-02 6.19095020e+01] [-1.89310970e-01 9.81914939e-01 -2.09983869e-03 -8.74947507e+00] [-1.02554235e-02 1.61178995e-04 9.99947399e-01 -1.43226781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:61.94, Y:-8.76, Z:-1.43 [[ 9.81312109e-01 1.92169064e-01 9.87908207e-03 6.19397601e+01] [-1.92157978e-01 9.81361826e-01 -2.06835363e-03 -8.76072825e+00] [-1.00924276e-02 1.31356033e-04 9.99949062e-01 -1.43228186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:61.97, Y:-8.77, Z:-1.43 [[ 9.80990106e-01 1.93795106e-01 1.00930422e-02 6.19703332e+01] [-1.93783599e-01 9.81042019e-01 -2.11513997e-03 -8.76953815e+00] [-1.03116023e-02 1.19065341e-04 9.99946827e-01 -1.43313232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:62.00, Y:-8.78, Z:-1.43 [[ 9.80639073e-01 1.95567534e-01 1.00173727e-02 6.20014515e+01] [-1.95556272e-01 9.80690231e-01 -2.10116993e-03 -8.77847788e+00] [-1.02348602e-02 1.01529275e-04 9.99947617e-01 -1.43380151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:62.03, Y:-8.79, Z:-1.43 [[ 9.79911228e-01 1.99185321e-01 9.95955231e-03 6.20319518e+01] [-1.99174352e-01 9.79961838e-01 -2.09136563e-03 -8.78991425e+00] [-1.01765505e-02 6.56652895e-05 9.99948215e-01 -1.43401015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.06, Y:-8.80, Z:-1.43 [[ 9.79548007e-01 2.00953433e-01 1.01695919e-02 6.20639518e+01] [-2.00942085e-01 9.79600794e-01 -2.13612073e-03 -8.79957636e+00] [-1.03914011e-02 4.89338028e-05 9.99946007e-01 -1.43436792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.498623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:62.10, Y:-8.81, Z:-1.44 [[ 9.79223232e-01 2.02512639e-01 1.05115219e-02 6.20955006e+01] [-2.02500583e-01 9.79279648e-01 -2.21002606e-03 -8.80943860e+00] [-1.07412777e-02 3.55195395e-05 9.99942310e-01 -1.43505643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.13, Y:-8.82, Z:-1.44 [[ 9.78580788e-01 2.05588891e-01 1.06230724e-02 6.21251958e+01] [-2.05576730e-01 9.78638446e-01 -2.23614564e-03 -8.82176063e+00] [-1.08558738e-02 4.39267992e-06 9.99941073e-01 -1.43505305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.558623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.16, Y:-8.83, Z:-1.44 [[ 9.78220885e-01 2.07294005e-01 1.06346658e-02 6.21563037e+01] [-2.07281903e-01 9.78278690e-01 -2.23986415e-03 -8.83064622e+00] [-1.08679773e-02 -1.32918653e-05 9.99940942e-01 -1.43529229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.19, Y:-8.84, Z:-1.44 [[ 9.77799574e-01 2.09256148e-01 1.09479387e-02 6.21882592e+01] [-2.09243437e-01 9.77860861e-01 -2.30663792e-03 -8.83956040e+00] [-1.11882390e-02 -3.53547559e-05 9.99937409e-01 -1.43591908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.618623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.22, Y:-8.85, Z:-1.44 [[ 9.76835392e-01 2.13716136e-01 1.08641240e-02 6.22196313e+01] [-2.13703874e-01 9.76895801e-01 -2.29088656e-03 -8.85052756e+00] [-1.11027166e-02 -8.38863212e-05 9.99938359e-01 -1.43657334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.648623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.25, Y:-8.86, Z:-1.44 [[ 9.76341938e-01 2.15975162e-01 1.05427328e-02 6.22510011e+01] [-2.15963723e-01 9.76398852e-01 -2.22529257e-03 -8.85865215e+00] [-1.07745201e-02 -1.04201359e-04 9.99941948e-01 -1.43711195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.678623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.28, Y:-8.87, Z:-1.44 [[ 9.75876275e-01 2.18068871e-01 1.05576230e-02 6.22832977e+01] [-2.18057499e-01 9.75933375e-01 -2.23051763e-03 -8.86671035e+00] [-1.07899431e-02 -1.25459636e-04 9.99941779e-01 -1.43803029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:62.31, Y:-8.87, Z:-1.44 [[ 9.75351007e-01 2.20405313e-01 1.05787646e-02 6.23138193e+01] [-2.20394011e-01 9.75408364e-01 -2.23705742e-03 -8.87469610e+00] [-1.08116748e-02 -1.49580144e-04 9.99941541e-01 -1.43865652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.738623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.35, Y:-8.88, Z:-1.44 [[ 9.74372823e-01 2.24701498e-01 1.03362563e-02 6.23459310e+01] [-2.24690933e-01 9.74427627e-01 -2.18729819e-03 -8.88442257e+00] [-1.05634228e-02 -1.91219150e-04 9.99944187e-01 -1.43966911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.38, Y:-8.89, Z:-1.44 [[ 9.73856761e-01 2.26957846e-01 9.65121115e-03 6.23776872e+01] [-2.26948730e-01 9.73904562e-01 -2.04396815e-03 -8.89236844e+00] [-9.86325317e-03 -1.99797913e-04 9.99951337e-01 -1.44030463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.41, Y:-8.90, Z:-1.44 [[ 9.72827528e-01 2.31345259e-01 9.27205236e-03 6.24088880e+01] [-2.31337027e-01 9.72871686e-01 -1.96549239e-03 -8.89998924e+00] [-9.47522456e-03 -2.32883926e-04 9.99955082e-01 -1.44077726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.44, Y:-8.91, Z:-1.44 [[ 9.72366013e-01 2.33276824e-01 9.28759513e-03 6.24414866e+01] [-2.33268637e-01 9.72410335e-01 -1.97038115e-03 -8.90635602e+00] [-9.49099775e-03 -2.50572995e-04 9.99954928e-01 -1.44096898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.858623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:62.47, Y:-8.91, Z:-1.44 [[ 9.71878191e-01 2.35291238e-01 9.52969537e-03 6.24725162e+01] [-2.35282694e-01 9.71924872e-01 -2.02386541e-03 -8.91243511e+00] [-9.73834575e-03 -2.75221748e-04 9.99952543e-01 -1.44180612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.50, Y:-8.92, Z:-1.44 [[ 9.71408941e-01 2.37209887e-01 9.80500657e-03 6.25033740e+01] [-2.37200921e-01 9.71458377e-01 -2.08427990e-03 -8.91875449e+00] [-1.00195676e-02 -3.01068455e-04 9.99949758e-01 -1.44229329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.54, Y:-8.92, Z:-1.44 [[ 9.70622647e-01 2.40365062e-01 1.07849259e-02 6.25360973e+01] [-2.40354385e-01 9.70682494e-01 -2.29479904e-03 -8.92485001e+00] [-1.10203282e-02 -3.64820296e-04 9.99939208e-01 -1.44267039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.57, Y:-8.93, Z:-1.44 [[ 9.70265519e-01 2.41775804e-01 1.13702459e-02 6.25687612e+01] [-2.41764004e-01 9.70332057e-01 -2.42175509e-03 -8.93089160e+00] [-1.16184359e-02 -3.99170726e-04 9.99932424e-01 -1.44250966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.978623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:62.60, Y:-8.93, Z:-1.44 [[ 9.69958024e-01 2.42999413e-01 1.15203033e-02 6.26003540e+01] [-2.42987358e-01 9.70026346e-01 -2.45609617e-03 -8.93471225e+00] [-1.17718276e-02 -4.16977870e-04 9.99930623e-01 -1.44350726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.63, Y:-8.94, Z:-1.44 [[ 9.69854838e-01 2.43420909e-01 1.13072840e-02 6.26331027e+01] [-2.43409302e-01 9.69920662e-01 -2.41257888e-03 -8.94038634e+00] [-1.15544405e-02 -4.12446801e-04 9.99933160e-01 -1.44403796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.038623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.67, Y:-8.95, Z:-1.44 [[ 9.69849706e-01 2.43455702e-01 1.09940379e-02 6.26658061e+01] [-2.43444709e-01 9.69911935e-01 -2.34774025e-03 -8.94569664e+00] [-1.12348193e-02 -3.99485164e-04 9.99936808e-01 -1.44491302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:62.70, Y:-8.95, Z:-1.45 [[ 9.69925121e-01 2.43170494e-01 1.06475446e-02 6.26983552e+01] [-2.43160145e-01 9.69983487e-01 -2.27566990e-03 -8.95109705e+00] [-1.08813182e-02 -3.81829088e-04 9.99940724e-01 -1.44571916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.098623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:62.73, Y:-8.95, Z:-1.45 [[ 9.70330215e-01 2.41550397e-01 1.06150531e-02 6.27302425e+01] [-2.41539991e-01 9.70388209e-01 -2.27086735e-03 -8.95481012e+00] [-1.08492513e-02 -3.60468638e-04 9.99941080e-01 -1.44693509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.76, Y:-8.96, Z:-1.45 [[ 9.70615618e-01 2.40397026e-01 1.07047801e-02 6.27631157e+01] [-2.40386354e-01 9.70674584e-01 -2.29189669e-03 -8.96057660e+00] [-1.09418231e-02 -3.48732327e-04 9.99940076e-01 -1.44712819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:62.79, Y:-8.97, Z:-1.45 [[ 9.70942473e-01 2.39075505e-01 1.06591101e-02 6.27945095e+01] [-2.39064821e-01 9.71000924e-01 -2.28426599e-03 -8.96538892e+00] [-1.08961178e-02 -3.30327387e-04 9.99940581e-01 -1.44774528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.83, Y:-8.97, Z:-1.45 [[ 9.71684891e-01 2.36055322e-01 1.03130079e-02 6.28272883e+01] [-2.36045125e-01 9.71739576e-01 -2.21238951e-03 -8.96629170e+00] [-1.05438042e-02 -2.84589781e-04 9.99944372e-01 -1.44851441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21862385300001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:62.86, Y:-8.97, Z:-1.45 [[ 9.72026372e-01 2.34644174e-01 1.03364770e-02 6.28601229e+01] [-2.34633846e-01 9.72081292e-01 -2.21795069e-03 -8.97047055e+00] [-1.05683251e-02 -2.69380780e-04 9.99944117e-01 -1.44904744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:62.89, Y:-8.97, Z:-1.45 [[ 9.72349036e-01 2.33293914e-01 1.05499392e-02 6.28920828e+01] [-2.33283051e-01 9.72406234e-01 -2.26606202e-03 -8.97484113e+00] [-1.07874851e-02 -2.57718783e-04 9.99941780e-01 -1.44946049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:62.93, Y:-8.98, Z:-1.45 [[ 9.73090086e-01 2.30145595e-01 1.13441238e-02 6.29255620e+01] [-2.30132794e-01 9.73156179e-01 -2.43896566e-03 -8.97698740e+00] [-1.16009214e-02 -2.37321604e-04 9.99932679e-01 -1.44962287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.96, Y:-8.98, Z:-1.45 [[ 9.73429575e-01 2.28700911e-01 1.14348718e-02 6.29576224e+01] [-2.28687777e-01 9.73496710e-01 -2.46085838e-03 -8.98152473e+00] [-1.16946107e-02 -2.19543085e-04 9.99931592e-01 -1.45015636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:62.99, Y:-8.99, Z:-1.45 [[ 9.73717950e-01 2.27468562e-01 1.14632838e-02 6.29905852e+01] [-2.27455252e-01 9.73785404e-01 -2.46900921e-03 -8.98637034e+00] [-1.17244004e-02 -2.03265517e-04 9.99931246e-01 -1.45028153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.368623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:63.02, Y:-8.99, Z:-1.44 [[ 9.74050082e-01 2.26068799e-01 1.09240762e-02 6.30226376e+01] [-2.26056601e-01 9.74111322e-01 -2.35494293e-03 -8.99046400e+00] [-1.11736454e-02 -1.75627177e-04 9.99937557e-01 -1.44268261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:-8.99, Z:-1.45 [[ 9.74787680e-01 2.22829149e-01 1.16682910e-02 6.30551767e+01] [-2.22814974e-01 9.74857502e-01 -2.51765810e-03 -8.99298939e+00] [-1.19359287e-02 -1.45687865e-04 9.99928754e-01 -1.45179784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.09, Y:-9.00, Z:-1.45 [[ 9.75180339e-01 2.21086578e-01 1.20012963e-02 6.30871507e+01] [-2.21071418e-01 9.75254177e-01 -2.59204420e-03 -8.99778753e+00] [-1.22773805e-02 -1.25433043e-04 9.99924622e-01 -1.45257303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:-9.00, Z:-1.45 [[ 9.75494508e-01 2.19688506e-01 1.21418720e-02 6.31203247e+01] [-2.19672854e-01 9.75570064e-01 -2.62456872e-03 -9.00270784e+00] [-1.24218344e-02 -1.06987296e-04 9.99922840e-01 -1.45324802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.15, Y:-9.00, Z:-1.45 [[ 9.76176117e-01 2.16669839e-01 1.15917551e-02 6.31536150e+01] [-2.16655335e-01 9.76244937e-01 -2.50776945e-03 -9.00494409e+00] [-1.18597502e-02 -6.33909344e-05 9.99929669e-01 -1.45436338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.19, Y:-9.01, Z:-1.46 [[ 9.76447392e-01 2.15458377e-01 1.13215907e-02 6.31852465e+01] [-2.15444429e-01 9.76513024e-01 -2.45203794e-03 -9.01000621e+00] [-1.15839929e-02 -4.48875900e-05 9.99932902e-01 -1.45518133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.22, Y:-9.02, Z:-1.46 [[ 9.76678907e-01 2.14417445e-01 1.11117612e-02 6.32181492e+01] [-2.14403932e-01 9.76742115e-01 -2.40734792e-03 -9.01565063e+00] [-1.13695026e-02 -3.11993737e-05 9.99935365e-01 -1.45608136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.25, Y:-9.02, Z:-1.46 [[ 9.76661162e-01 2.14498291e-01 1.11111258e-02 6.32508422e+01] [-2.14484750e-01 9.76724364e-01 -2.41027673e-03 -9.02288128e+00] [-1.13695075e-02 -2.91433597e-05 9.99935365e-01 -1.45672832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:63.28, Y:-9.03, Z:-1.46 [[ 9.77049958e-01 2.12760722e-01 1.03079867e-02 6.32825775e+01] [-2.12748973e-01 9.77104332e-01 -2.23599592e-03 -9.02530477e+00] [-1.05477106e-02 -8.33385841e-06 9.99944371e-01 -1.45764742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:-9.03, Z:-1.46 [[ 9.77106567e-01 2.12528662e-01 9.71211038e-03 6.33149258e+01] [-2.12518205e-01 9.77154833e-01 -2.10822258e-03 -9.03040520e+00] [-9.93829332e-03 -4.04213865e-06 9.99950614e-01 -1.45868284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.35, Y:-9.03, Z:-1.46 [[ 9.77117713e-01 2.12518020e-01 8.77868678e-03 6.33467273e+01] [-2.12509463e-01 9.77157148e-01 -1.90710411e-03 -9.03386137e+00] [-8.98345052e-03 -2.08881017e-06 9.99959648e-01 -1.45954570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:-9.04, Z:-1.46 [[ 9.77100030e-01 2.12626418e-01 8.09553135e-03 6.33794218e+01] [-2.12619136e-01 9.77133566e-01 -1.75978576e-03 -9.03869527e+00] [-8.28459236e-03 -1.77815859e-06 9.99965682e-01 -1.46019010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.41, Y:-9.04, Z:-1.46 [[ 9.77052158e-01 2.12859184e-01 7.74912783e-03 6.34109335e+01] [-2.12852507e-01 9.77082887e-01 -1.68596737e-03 -9.04295891e+00] [-7.93041383e-03 -2.14323148e-06 9.99968554e-01 -1.46130043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.44, Y:-9.05, Z:-1.46 [[ 9.76976774e-01 2.13214368e-01 7.48436349e-03 6.34434402e+01] [-2.13208143e-01 9.77005442e-01 -1.62931286e-03 -9.04761200e+00] [-7.65965677e-03 -3.92641939e-06 9.99970664e-01 -1.46222203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.48, Y:-9.05, Z:-1.46 [[ 9.76872728e-01 2.13686137e-01 7.60979302e-03 6.34754579e+01] [-2.13679701e-01 9.76902367e-01 -1.65840720e-03 -9.05046815e+00] [-7.78840344e-03 -6.00553437e-06 9.99969670e-01 -1.46243060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.818623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.51, Y:-9.05, Z:-1.46 [[ 9.76785687e-01 2.14077710e-01 7.77533956e-03 6.35069539e+01] [-2.14070991e-01 9.76816633e-01 -1.69612811e-03 -9.05485801e+00] [-7.95818423e-03 -7.72098108e-06 9.99968333e-01 -1.46346212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.54, Y:-9.06, Z:-1.46 [[ 9.76680552e-01 2.14550738e-01 7.94235585e-03 6.35397110e+01] [-2.14543729e-01 9.76712845e-01 -1.73419001e-03 -9.05674924e+00] [-8.12947272e-03 -1.02329857e-05 9.99966955e-01 -1.46406125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.57, Y:-9.06, Z:-1.46 [[ 9.76575535e-01 2.15020625e-01 8.14588694e-03 6.35724739e+01] [-2.15013258e-01 9.76609508e-01 -1.77992761e-03 -9.06201324e+00] [-8.33807178e-03 -1.32399373e-05 9.99965238e-01 -1.46451622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.60, Y:-9.07, Z:-1.47 [[ 9.76484878e-01 2.15428579e-01 8.23467617e-03 6.36038042e+01] [-2.15421050e-01 9.76519599e-01 -1.80118634e-03 -9.06681746e+00] [-8.42934968e-03 -1.50913582e-05 9.99964472e-01 -1.46535684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.64, Y:-9.07, Z:-1.47 [[ 9.76480880e-01 2.15434283e-01 8.55343441e-03 6.36364163e+01] [-2.15426144e-01 9.76518341e-01 -1.87271677e-03 -9.06923847e+00] [-8.75603298e-03 -1.39612712e-05 9.99961665e-01 -1.46591389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:-9.07, Z:-1.47 [[ 9.76541637e-01 2.15133665e-01 9.16178717e-03 6.36687946e+01] [-2.15124297e-01 9.76584613e-01 -2.00768322e-03 -9.07437333e+00] [-9.37918062e-03 -1.03367670e-05 9.99956014e-01 -1.46681495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.998623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:63.70, Y:-9.08, Z:-1.46 [[ 9.76608632e-01 2.14823312e-01 9.30179873e-03 6.37006559e+01] [-2.14813622e-01 9.76652929e-01 -2.04041063e-03 -9.07924246e+00] [-9.52295675e-03 -5.47044711e-06 9.99954656e-01 -1.46180310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.73, Y:-9.08, Z:-1.47 [[ 9.76720609e-01 2.14289809e-01 9.83513709e-03 6.37331722e+01] [-2.14278929e-01 9.76770125e-01 -2.15934369e-03 -9.08488096e+00] [-1.00693934e-02 1.61283863e-06 9.99949302e-01 -1.46763343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.058623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.76, Y:-9.09, Z:-1.47 [[ 9.77050962e-01 2.12776333e-01 9.88179429e-03 6.37649534e+01] [-2.12765252e-01 9.77100932e-01 -2.17167153e-03 -9.08843818e+00] [-1.01175907e-02 1.93313066e-05 9.99948816e-01 -1.46821885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.80, Y:-9.09, Z:-1.47 [[ 9.77219191e-01 2.12016802e-01 9.56701165e-03 6.37969566e+01] [-2.12006363e-01 9.77266021e-01 -2.10403594e-03 -9.09428020e+00] [-9.79560638e-03 2.78369566e-05 9.99952022e-01 -1.46875730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:-9.10, Z:-1.47 [[ 9.77602160e-01 2.10253894e-01 9.34429885e-03 6.38298132e+01] [-2.10243840e-01 9.77646816e-01 -2.05672766e-03 -9.09940597e+00] [-9.56785903e-03 4.60801299e-05 9.99954226e-01 -1.46991802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:63.86, Y:-9.11, Z:-1.47 [[ 9.77816816e-01 2.09261994e-01 9.14838910e-03 6.38614428e+01] [-2.09252295e-01 9.77859609e-01 -2.01553619e-03 -9.10574065e+00] [-9.36761530e-03 5.65037629e-05 9.99956121e-01 -1.47088195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.89, Y:-9.11, Z:-1.47 [[ 9.78058753e-01 2.08133404e-01 9.03120657e-03 6.38930692e+01] [-2.08123882e-01 9.78100446e-01 -1.99205677e-03 -9.11251622e+00] [-9.24804072e-03 6.87387956e-05 9.99957234e-01 -1.47155393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:63.92, Y:-9.12, Z:-1.47 [[ 9.78542216e-01 2.05846851e-01 9.06667064e-03 6.39241559e+01] [-2.05837151e-01 9.78584215e-01 -2.00047787e-03 -9.11860432e+00] [-9.28429283e-03 9.12943957e-05 9.99956896e-01 -1.47157596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.96, Y:-9.13, Z:-1.47 [[ 9.78706851e-01 2.05056025e-01 9.21553410e-03 6.39568604e+01] [-2.05045954e-01 9.78750232e-01 -2.03485472e-03 -9.12542331e+00] [-9.43696536e-03 1.01918273e-04 9.99955466e-01 -1.47203190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:-9.13, Z:-1.47 [[ 9.78913111e-01 2.04056620e-01 9.48777015e-03 6.39878789e+01] [-2.04045877e-01 9.78959081e-01 -2.09712077e-03 -9.13245054e+00] [-9.71607012e-03 1.16958637e-04 9.99952791e-01 -1.47286699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.02, Y:-9.14, Z:-1.47 [[ 9.79467802e-01 2.01355441e-01 9.94035799e-03 6.40201243e+01] [-2.01343489e-01 9.79518230e-01 -2.19911705e-03 -9.14038816e+00] [-1.01795660e-02 1.52537982e-04 9.99948175e-01 -1.47386124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.05, Y:-9.15, Z:-1.47 [[ 9.79714467e-01 2.00146353e-01 1.00498891e-02 6.40525729e+01] [-2.00134052e-01 9.79765997e-01 -2.22540108e-03 -9.14814004e+00] [-1.02919455e-02 1.68932595e-04 9.99947022e-01 -1.47458138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.358623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.08, Y:-9.16, Z:-1.47 [[ 9.79901731e-01 1.99219537e-01 1.02065358e-02 6.40832543e+01] [-1.99206776e-01 9.79954868e-01 -2.26230899e-03 -9.15557366e+00] [-1.04526406e-02 1.83629406e-04 9.99945353e-01 -1.47499713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.12, Y:-9.16, Z:-1.47 [[ 9.80241907e-01 1.97522639e-01 1.05171414e-02 6.41152042e+01] [-1.97508971e-01 9.80298303e-01 -2.33313134e-03 -9.16445726e+00] [-1.07707821e-02 2.09803339e-04 9.99941971e-01 -1.47028675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.418623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.15, Y:-9.17, Z:-1.48 [[ 9.80322685e-01 1.97081004e-01 1.12476975e-02 6.41467185e+01] [-1.97065313e-01 9.80387181e-01 -2.49767338e-03 -9.17314276e+00] [-1.15193424e-02 2.31994851e-04 9.99933623e-01 -1.47607421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:64.18, Y:-9.18, Z:-1.47 [[ 9.80302708e-01 1.97232751e-01 1.02879415e-02 6.41793379e+01] [-1.97219615e-01 9.80356668e-01 -2.28620332e-03 -9.18107759e+00] [-1.05367662e-02 2.12187450e-04 9.99944464e-01 -1.46909572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.21, Y:-9.19, Z:-1.48 [[ 9.80262533e-01 1.97435249e-01 1.02317142e-02 6.42097331e+01] [-1.97422238e-01 9.80315907e-01 -2.27643053e-03 -9.18911430e+00] [-1.04797598e-02 2.11531641e-04 9.99945063e-01 -1.47722245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.24, Y:-9.20, Z:-1.48 [[ 9.80126827e-01 1.98128130e-01 9.83093942e-03 6.42410394e+01] [-1.98116147e-01 9.80176109e-01 -2.18785931e-03 -9.19737126e+00] [-1.00695284e-02 1.96711764e-04 9.99949282e-01 -1.47759610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.538623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.27, Y:-9.21, Z:-1.48 [[ 9.79957603e-01 1.98950256e-01 1.00941356e-02 6.42729841e+01] [-1.98937647e-01 9.80009570e-01 -2.24832615e-03 -9.20623717e+00] [-1.03396545e-02 1.95160724e-04 9.99946525e-01 -1.47856915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:64.30, Y:-9.22, Z:-1.47 [[ 9.79554924e-01 2.00927363e-01 1.00172656e-02 6.43038080e+01] [-2.00915022e-01 9.79606127e-01 -2.23384766e-03 -9.21589727e+00] [-1.02618159e-02 1.75557329e-04 9.99947331e-01 -1.47319567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.34, Y:-9.22, Z:-1.48 [[ 9.79263611e-01 2.02314954e-01 1.05565190e-02 6.43355727e+01] [-2.02301320e-01 9.79320494e-01 -2.35491455e-03 -9.22400542e+00] [-1.08146499e-02 1.70484392e-04 9.99941505e-01 -1.47943372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.37, Y:-9.23, Z:-1.48 [[ 9.78870073e-01 2.04235055e-01 1.00708258e-02 6.43674196e+01] [-2.04222731e-01 9.78921867e-01 -2.24830698e-03 -9.23207040e+00] [-1.03177347e-02 1.44108868e-04 9.99946760e-01 -1.47669500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.40, Y:-9.24, Z:-1.48 [[ 9.78136506e-01 2.07731949e-01 9.81899098e-03 6.43981992e+01] [-2.07720387e-01 9.78185783e-01 -2.19421544e-03 -9.24212685e+00] [-1.00606060e-02 1.06637617e-04 9.99949385e-01 -1.48104434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68862385300001 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:64.43, Y:-9.25, Z:-1.47 [[ 9.77625713e-01 2.10158938e-01 9.01034484e-03 6.44287339e+01] [-2.10149290e-01 9.77667231e-01 -2.01511165e-03 -9.25076922e+00] [-9.23261261e-03 7.65073849e-05 9.99957376e-01 -1.47383606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:64.46, Y:-9.26, Z:-1.48 [[ 9.77124750e-01 2.12471105e-01 9.12424257e-03 6.44600046e+01] [-2.12461297e-01 9.77167348e-01 -2.04223173e-03 -9.25915601e+00] [-9.34982715e-03 5.69667539e-05 9.99956288e-01 -1.48225435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:-9.27, Z:-1.48 [[ 9.75888888e-01 2.18098986e-01 8.58544645e-03 6.44921726e+01] [-2.18090507e-01 9.75926653e-01 -1.92312688e-03 -9.26698619e+00] [-8.79819804e-03 4.35378023e-06 9.99961295e-01 -1.48346280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.52, Y:-9.27, Z:-1.48 [[ 9.75170729e-01 2.21311131e-01 7.96445028e-03 6.45239043e+01] [-2.21303931e-01 9.75203252e-01 -1.78532613e-03 -9.27468436e+00] [-8.16207036e-03 -2.15663640e-05 9.99966690e-01 -1.48408421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:-9.28, Z:-1.48 [[ 9.74486675e-01 2.24320082e-01 7.49804843e-03 6.45552224e+01] [-2.24313778e-01 9.74515520e-01 -1.68222638e-03 -9.28237884e+00] [-7.68432173e-03 -4.26083868e-05 9.99970474e-01 -1.48454432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.59, Y:-9.29, Z:-1.48 [[ 9.73118988e-01 2.30187603e-01 7.28721214e-03 6.45866304e+01] [-2.30181803e-01 9.73146269e-01 -1.63621927e-03 -9.28972921e+00] [-7.46816069e-03 -8.51475894e-05 9.99972109e-01 -1.48444845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.62, Y:-9.30, Z:-1.49 [[ 9.72388884e-01 2.33242709e-01 7.59583450e-03 6.46185565e+01] [-2.33236490e-01 9.72418545e-01 -1.70688248e-03 -9.29629409e+00] [-7.78444823e-03 -1.11872230e-04 9.99969694e-01 -1.48501179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:-9.30, Z:-1.49 [[ 9.71649306e-01 2.36291547e-01 7.99571622e-03 6.46495287e+01] [-2.36284743e-01 9.71682193e-01 -1.79871090e-03 -9.30308012e+00] [-8.19431526e-03 -1.41549551e-04 9.99966416e-01 -1.48525982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.68, Y:-9.31, Z:-1.49 [[ 9.70413533e-01 2.41302743e-01 8.40009578e-03 6.46822806e+01] [-2.41295407e-01 9.70449870e-01 -1.89130306e-03 -9.30953591e+00] [-8.60824848e-03 -1.91558440e-04 9.99962930e-01 -1.48560062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:64.71, Y:-9.32, Z:-1.49 [[ 9.69895210e-01 2.43373713e-01 8.51570312e-03 6.47149165e+01] [-2.43366238e-01 9.69932571e-01 -1.91908534e-03 -9.31635804e+00] [-8.72671274e-03 -2.11122957e-04 9.99961899e-01 -1.48637663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.75, Y:-9.32, Z:-1.49 [[ 9.69390372e-01 2.45377029e-01 8.50996939e-03 6.47467941e+01] [-2.45369625e-01 9.69427698e-01 -1.91965453e-03 -9.32240145e+00] [-8.72083916e-03 -2.27193380e-04 9.99961947e-01 -1.48713611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.78, Y:-9.33, Z:-1.49 [[ 9.68778693e-01 2.47780993e-01 8.51023798e-03 6.47779611e+01] [-2.47773661e-01 9.68816040e-01 -1.92202055e-03 -9.32744019e+00] [-8.72109522e-03 -2.46600263e-04 9.99961940e-01 -1.48838318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.81, Y:-9.33, Z:-1.49 [[ 9.68634589e-01 2.48348028e-01 8.38389620e-03 6.48103587e+01] [-2.48340933e-01 9.68670840e-01 -1.89353859e-03 -9.33400000e+00] [-8.59149235e-03 -2.47917628e-04 9.99963062e-01 -1.48861905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:-9.34, Z:-1.49 [[ 9.68496513e-01 2.48881279e-01 8.52129129e-03 6.48416647e+01] [-2.48873953e-01 9.68533966e-01 -1.92649363e-03 -9.34031810e+00] [-8.73262825e-03 -2.54925093e-04 9.99961837e-01 -1.48943285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:64.87, Y:-9.35, Z:-1.49 [[ 9.68286822e-01 2.49727793e-01 7.52726761e-03 6.48746018e+01] [-2.49722095e-01 9.68316052e-01 -1.70274250e-03 -9.34534199e+00] [-7.71399618e-03 -2.30981917e-04 9.99970220e-01 -1.48992323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:-9.35, Z:-1.49 [[ 9.68153916e-01 2.50257898e-01 6.99854542e-03 6.49068885e+01] [-2.50252979e-01 9.68179187e-01 -1.58412292e-03 -9.35034554e+00] [-7.17228528e-03 -2.17732029e-04 9.99974255e-01 -1.49016658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:64.94, Y:-9.35, Z:-1.48 [[ 9.67961379e-01 2.51012051e-01 6.61206339e-03 6.49383180e+01] [-2.51007669e-01 9.67983939e-01 -1.49792898e-03 -9.35492047e+00] [-6.77636939e-03 -2.09741221e-04 9.99977018e-01 -1.48421969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.198623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:64.97, Y:-9.36, Z:-1.49 [[ 9.67792343e-01 2.51669491e-01 6.35981264e-03 6.49700730e+01] [-2.51665444e-01 9.67813218e-01 -1.44186100e-03 -9.35836605e+00] [-6.51798316e-03 -2.05123042e-04 9.99978737e-01 -1.49292069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:-9.36, Z:-1.49 [[ 9.67804811e-01 2.51627018e-01 6.13938611e-03 6.50025110e+01] [-2.51623241e-01 9.67824263e-01 -1.39277256e-03 -9.36453078e+00] [-6.29230605e-03 -1.96880244e-04 9.99980184e-01 -1.49337714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.03, Y:-9.37, Z:-1.49 [[ 9.67900286e-01 2.51255722e-01 6.29265406e-03 6.50344648e+01] [-2.51251737e-01 9.67920721e-01 -1.42902255e-03 -9.37036336e+00] [-6.44984035e-03 -1.97888926e-04 9.99979180e-01 -1.49380253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.07, Y:-9.38, Z:-1.49 [[ 9.68494194e-01 2.48947387e-01 6.64788995e-03 6.50676102e+01] [-2.48942876e-01 9.68516991e-01 -1.51087477e-03 -9.37513510e+00] [-6.81472270e-03 -1.91671399e-04 9.99976761e-01 -1.49380950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.10, Y:-9.38, Z:-1.49 [[ 9.68894245e-01 2.47371270e-01 7.16913317e-03 6.50994113e+01] [-2.47365967e-01 9.68920749e-01 -1.63121005e-03 -9.38102648e+00] [-7.34983638e-03 -1.92929527e-04 9.99972971e-01 -1.49376308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.13, Y:-9.38, Z:-1.49 [[ 9.69775086e-01 2.43873022e-01 7.88874129e-03 6.51313344e+01] [-2.43866471e-01 9.69807154e-01 -1.79676923e-03 -9.38372331e+00] [-8.08874129e-03 -1.81337461e-04 9.99967269e-01 -1.49377334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37862385300001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:65.16, Y:-9.39, Z:-1.49 [[ 9.70196568e-01 2.42200369e-01 7.58953975e-03 6.51639341e+01] [-2.42194236e-01 9.70226240e-01 -1.73094839e-03 -9.38767976e+00] [-7.78280696e-03 -1.58782594e-04 9.99969701e-01 -1.49415787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:-9.39, Z:-1.50 [[ 9.70565918e-01 2.40718807e-01 7.50034104e-03 6.51952780e+01] [-2.40712777e-01 9.70594887e-01 -1.71009548e-03 -9.39211210e+00] [-7.69144481e-03 -1.45667527e-04 9.99970410e-01 -1.49576171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:65.23, Y:-9.40, Z:-1.50 [[ 9.70896296e-01 2.39382306e-01 7.51625318e-03 6.52267750e+01] [-2.39376199e-01 9.70925380e-01 -1.71522697e-03 -9.39806934e+00] [-7.70831596e-03 -1.33904598e-04 9.99970282e-01 -1.49625976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.26, Y:-9.40, Z:-1.50 [[ 9.71703814e-01 2.36098789e-01 7.00429574e-03 6.52595404e+01] [-2.36093393e-01 9.71729053e-01 -1.59935535e-03 -9.40297272e+00] [-7.18388352e-03 -9.95682568e-05 9.99974191e-01 -1.49643946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.498623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:65.29, Y:-9.41, Z:-1.50 [[ 9.71672092e-01 2.36229322e-01 7.00382754e-03 6.52921482e+01] [-2.36223914e-01 9.71697328e-01 -1.60140140e-03 -9.41059242e+00] [-7.18389847e-03 -9.84345051e-05 9.99974191e-01 -1.49708621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.32, Y:-9.42, Z:-1.50 [[ 9.72100354e-01 2.34473921e-01 6.54850688e-03 6.53240944e+01] [-2.34469147e-01 9.72122407e-01 -1.49822667e-03 -9.41514745e+00] [-6.71724535e-03 -7.89961432e-05 9.99977436e-01 -1.49793875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.558623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:65.36, Y:-9.42, Z:-1.50 [[ 9.72914951e-01 2.31058745e-01 6.95378199e-03 6.53566550e+01] [-2.31053274e-01 9.72939799e-01 -1.59125019e-03 -9.41787438e+00] [-7.13328353e-03 -5.85429895e-05 9.99974556e-01 -1.49906971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.39, Y:-9.42, Z:-1.50 [[ 9.73285444e-01 2.29486196e-01 7.17844066e-03 6.53874778e+01] [-2.29480309e-01 9.73311915e-01 -1.64444144e-03 -9.42389357e+00] [-7.36423844e-03 -4.67998638e-05 9.99972883e-01 -1.49931957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.618623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.42, Y:-9.43, Z:-1.50 [[ 9.73652994e-01 2.27922326e-01 7.15964397e-03 6.54196067e+01] [-2.27916423e-01 9.73679317e-01 -1.64079189e-03 -9.43048110e+00] [-7.34517036e-03 -3.42385019e-05 9.99973023e-01 -1.49950411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.648623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:65.45, Y:-9.44, Z:-1.50 [[ 9.74223847e-01 2.25439642e-01 8.05375852e-03 6.54513606e+01] [-2.25432068e-01 9.74257136e-01 -1.84809027e-03 -9.43610462e+00] [-8.26306452e-03 -1.51218187e-05 9.99965860e-01 -1.49942919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.678623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:65.48, Y:-9.44, Z:-1.50 [[ 9.74470422e-01 2.24362823e-01 8.28979495e-03 6.54840024e+01] [-2.24354748e-01 9.74505682e-01 -1.90352353e-03 -9.44278967e+00] [-8.50553219e-03 -4.92747984e-06 9.99963827e-01 -1.49957104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.52, Y:-9.45, Z:-1.50 [[ 9.74662810e-01 2.23520898e-01 8.41517326e-03 6.55162208e+01] [-2.23512531e-01 9.74699137e-01 -1.93407556e-03 -9.44940881e+00] [-8.63456842e-03 4.17484905e-06 9.99962721e-01 -1.49997533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.738623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:65.55, Y:-9.45, Z:-1.49 [[ 9.75017165e-01 2.21983949e-01 8.04074750e-03 6.55492118e+01] [-2.21976245e-01 9.75050320e-01 -1.84944984e-03 -9.45377200e+00] [-8.25068160e-03 1.83904049e-05 9.99965962e-01 -1.49388795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:-9.46, Z:-1.50 [[ 9.75139576e-01 2.21437052e-01 8.27283632e-03 6.55808945e+01] [-2.21428861e-01 9.75174667e-01 -1.90479869e-03 -9.45998530e+00] [-8.48925342e-03 2.55998640e-05 9.99963965e-01 -1.50130280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.61, Y:-9.47, Z:-1.50 [[ 9.75189932e-01 2.21224237e-01 8.02707397e-03 6.56132364e+01] [-2.21216507e-01 9.75222967e-01 -1.84951882e-03 -9.46686772e+00] [-8.23734529e-03 2.79108678e-05 9.99966072e-01 -1.50197129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:65.64, Y:-9.47, Z:-1.50 [[ 9.75020103e-01 2.21992248e-01 7.43242719e-03 6.56447824e+01] [-2.21985633e-01 9.75048430e-01 -1.71390501e-03 -9.47369976e+00] [-7.62745009e-03 2.11997898e-05 9.99970910e-01 -1.50220633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.858623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:65.68, Y:-9.48, Z:-1.50 [[ 9.74889089e-01 2.22575199e-01 7.17947026e-03 6.56755839e+01] [-2.22569019e-01 9.74915525e-01 -1.65877189e-03 -9.47927276e+00] [-7.36857850e-03 1.91909608e-05 9.99972851e-01 -1.49606288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.71, Y:-9.48, Z:-1.50 [[ 9.74529178e-01 2.24124378e-01 7.81943551e-03 6.57051338e+01] [-2.24117094e-01 9.74560549e-01 -1.80701213e-03 -9.48378446e+00] [-8.02550883e-03 8.51688750e-06 9.99967795e-01 -1.50302402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.918623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:65.74, Y:-9.49, Z:-1.50 [[ 9.74303952e-01 2.25107172e-01 7.65307958e-03 6.57361174e+01] [-2.25100225e-01 9.74334009e-01 -1.76852241e-03 -9.48987995e+00] [-7.85476279e-03 3.68441286e-07 9.99969151e-01 -1.49710245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.77, Y:-9.50, Z:-1.50 [[ 9.74104893e-01 2.25948619e-01 8.17793347e-03 6.57660097e+01] [-2.25940712e-01 9.74139221e-01 -1.89030918e-03 -9.49631577e+00] [-8.39355848e-03 -6.36868910e-06 9.99964773e-01 -1.50344024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.978623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.79, Y:-9.50, Z:-1.50 [[ 9.73915249e-01 2.26746112e-01 8.67688346e-03 6.57947471e+01] [-2.26737241e-01 9.73953901e-01 -2.00576556e-03 -9.50222926e+00] [-8.90568403e-03 -1.39269498e-05 9.99960344e-01 -1.50398012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:-9.51, Z:-1.50 [[ 9.73554328e-01 2.28283166e-01 8.87501440e-03 6.58262290e+01] [-2.28273953e-01 9.73594780e-01 -2.05107751e-03 -9.50730409e+00] [-9.10889416e-03 -2.90992333e-05 9.99958513e-01 -1.50440408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.038623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:65.86, Y:-9.51, Z:-1.50 [[ 9.73370449e-01 2.29069383e-01 8.78564201e-03 6.58555704e+01] [-2.29060388e-01 9.73410097e-01 -2.03030629e-03 -9.51361243e+00] [-9.01711364e-03 -3.62024211e-05 9.99959344e-01 -1.50459393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.89, Y:-9.52, Z:-1.51 [[ 9.73203181e-01 2.29770163e-01 9.01341245e-03 6.58851469e+01] [-2.29760715e-01 9.73244918e-01 -2.08407142e-03 -9.51941906e+00] [-9.25111529e-03 -4.27031514e-05 9.99957207e-01 -1.50507650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.098623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:65.91, Y:-9.52, Z:-1.51 [[ 9.72747768e-01 2.31719617e-01 8.23401677e-03 6.59145387e+01] [-2.31711800e-01 9.72782615e-01 -1.90412264e-03 -9.52278484e+00] [-8.45113093e-03 -5.56877977e-05 9.99964287e-01 -1.50568198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:65.94, Y:-9.53, Z:-1.51 [[ 9.72451526e-01 2.32986171e-01 7.44803750e-03 6.59440671e+01] [-2.32979814e-01 9.72480046e-01 -1.72222600e-03 -9.52773273e+00] [-7.64432270e-03 -6.04610852e-05 9.99970780e-01 -1.50635642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.97, Y:-9.53, Z:-1.51 [[ 9.71697638e-01 2.36111916e-01 7.40703416e-03 6.59733526e+01] [-2.36105719e-01 9.71725865e-01 -1.71270144e-03 -9.52997988e+00] [-7.60199589e-03 -8.46151817e-05 9.99971101e-01 -1.50737032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:66.00, Y:-9.53, Z:-1.51 [[ 9.71453108e-01 2.37107531e-01 7.67321206e-03 6.60021668e+01] [-2.37100913e-01 9.71483407e-01 -1.77408510e-03 -9.53399408e+00] [-7.87504713e-03 -9.58851015e-05 9.99968987e-01 -1.50781735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.03, Y:-9.54, Z:-1.51 [[ 9.71262058e-01 2.37891511e-01 7.59239134e-03 6.60297603e+01] [-2.37885057e-01 9.71291727e-01 -1.75519513e-03 -9.53623323e+00] [-7.79197292e-03 -1.01362021e-04 9.99969637e-01 -1.50875928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.06, Y:-9.54, Z:-1.51 [[ 9.71436939e-01 2.37180956e-01 7.44761924e-03 6.60578097e+01] [-2.37174730e-01 9.71465483e-01 -1.72107907e-03 -9.54142081e+00] [-7.64331220e-03 -9.44672983e-05 9.99970785e-01 -1.50963803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.09, Y:-9.55, Z:-1.51 [[ 9.71707188e-01 2.36067165e-01 7.57859239e-03 6.60861737e+01] [-2.36060688e-01 9.71736737e-01 -1.75095934e-03 -9.54676526e+00] [-7.77774064e-03 -8.75879611e-05 9.99969749e-01 -1.50976025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.12, Y:-9.55, Z:-1.51 [[ 9.72131564e-01 2.34306063e-01 7.80326488e-03 6.61157674e+01] [-2.34299145e-01 9.72162879e-01 -1.80218511e-03 -9.55220359e+00] [-8.00830735e-03 -7.63372529e-05 9.99967930e-01 -1.51052313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.338623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:66.14, Y:-9.55, Z:-1.50 [[ 9.73186448e-01 2.29886910e-01 7.75537327e-03 6.61449941e+01] [-2.29879936e-01 9.73217348e-01 -1.79106998e-03 -9.55476872e+00] [-7.95940735e-03 -3.97596765e-05 9.99968323e-01 -1.50431162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-9.56, Z:-1.51 [[ 9.73676873e-01 2.27791353e-01 8.02792568e-03 6.61726174e+01] [-2.27783812e-01 9.73709967e-01 -1.85367423e-03 -9.56120958e+00] [-8.23912221e-03 -2.37517873e-05 9.99966058e-01 -1.51188975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.398623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:66.20, Y:-9.57, Z:-1.51 [[ 9.74264157e-01 2.25300298e-01 7.00915702e-03 6.62013938e+01] [-2.25294487e-01 9.74289370e-01 -1.61811385e-03 -9.56716578e+00] [-7.19350871e-03 -2.65411636e-06 9.99974126e-01 -1.50651525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.23, Y:-9.57, Z:-1.51 [[ 9.75265003e-01 2.20942224e-01 6.53506173e-03 6.62296530e+01] [-2.20937075e-01 9.75286898e-01 -1.50868634e-03 -9.57256299e+00] [-6.70689259e-03 2.75315618e-05 9.99977508e-01 -1.51306679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:-9.58, Z:-1.51 [[ 9.75731380e-01 2.18870268e-01 6.63930285e-03 6.62576876e+01] [-2.18864906e-01 9.75753967e-01 -1.53263891e-03 -9.57765197e+00] [-6.81377519e-03 4.23334834e-05 9.99976785e-01 -1.51379444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.29, Y:-9.58, Z:-1.51 [[ 9.76515848e-01 2.15329456e-01 7.07272224e-03 6.62870433e+01] [-2.15323283e-01 9.76541459e-01 -1.63198171e-03 -9.58241449e+00] [-7.25822023e-03 7.07342302e-05 9.99973656e-01 -1.51469794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:66.31, Y:-9.59, Z:-1.52 [[ 9.76883860e-01 2.13656754e-01 6.97965503e-03 6.63147020e+01] [-2.13650700e-01 9.76908790e-01 -1.61048251e-03 -9.58853255e+00] [-7.16257682e-03 8.20461837e-05 9.99974345e-01 -1.51527627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.34, Y:-9.60, Z:-1.52 [[ 9.77231843e-01 2.12071346e-01 6.60831626e-03 6.63435834e+01] [-2.12065886e-01 9.77254182e-01 -1.52441099e-03 -9.59513021e+00] [-6.78128859e-03 8.83045198e-05 9.99977003e-01 -1.51582934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57862385300001 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:66.37, Y:-9.60, Z:-1.51 [[ 9.77584195e-01 2.10452822e-01 6.22507494e-03 6.63728789e+01] [-2.10447944e-01 9.77604010e-01 -1.43588455e-03 -9.60128955e+00] [-6.38784418e-03 9.36438180e-05 9.99979593e-01 -1.50996331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.40, Y:-9.61, Z:-1.52 [[ 9.77804895e-01 2.09400053e-01 7.01465477e-03 6.64008113e+01] [-2.09393833e-01 9.77830049e-01 -1.61791822e-03 -9.60891905e+00] [-7.19793238e-03 1.13182902e-04 9.99974088e-01 -1.51676354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.43, Y:-9.62, Z:-1.52 [[ 9.77859493e-01 2.09131973e-01 7.39116929e-03 6.64289283e+01] [-2.09125062e-01 9.77887418e-01 -1.70456652e-03 -9.61543775e+00] [-7.58421082e-03 1.21147816e-04 9.99971232e-01 -1.51718854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.46, Y:-9.62, Z:-1.52 [[ 9.77811842e-01 2.09345107e-01 7.65689061e-03 6.64565301e+01] [-2.09337700e-01 9.77841813e-01 -1.76528941e-03 -9.62199323e+00] [-7.85678250e-03 1.23245024e-04 9.99969127e-01 -1.51730587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.48, Y:-9.63, Z:-1.52 [[ 9.77502764e-01 2.10775934e-01 7.86461457e-03 6.64848193e+01] [-2.10768168e-01 9.77534395e-01 -1.81299180e-03 -9.62854635e+00] [-8.07006628e-03 1.14594092e-04 9.99967430e-01 -1.51773392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.51, Y:-9.63, Z:-1.52 [[ 9.77265577e-01 2.11885492e-01 7.51869422e-03 6.65115216e+01] [-2.11878429e-01 9.77294494e-01 -1.73306030e-03 -9.63471285e+00] [-7.71518880e-03 1.00611057e-04 9.99970232e-01 -1.51799058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.758623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:66.54, Y:-9.64, Z:-1.52 [[ 9.76740323e-01 2.14290426e-01 7.61276950e-03 6.65391311e+01] [-2.14283262e-01 9.76769987e-01 -1.75411835e-03 -9.64125282e+00] [-7.81181553e-03 8.20290442e-05 9.99969484e-01 -1.51903937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.57, Y:-9.65, Z:-1.52 [[ 9.76447975e-01 2.15616202e-01 7.68151973e-03 6.65669640e+01] [-2.15608952e-01 9.76478186e-01 -1.76963025e-03 -9.64818720e+00] [-7.88239741e-03 7.17474558e-05 9.99968931e-01 -1.51942619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.818623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.59, Y:-9.65, Z:-1.52 [[ 9.76165441e-01 2.16875797e-01 8.11917785e-03 6.65936160e+01] [-2.16867744e-01 9.76199203e-01 -1.87013030e-03 -9.65491833e+00] [-8.33152095e-03 6.47687927e-05 9.99965290e-01 -1.51979700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:66.62, Y:-9.66, Z:-1.52 [[ 9.75838938e-01 2.18327385e-01 8.45693452e-03 6.66215473e+01] [-2.18318708e-01 9.75875581e-01 -1.94720922e-03 -9.66140100e+00] [-8.67804499e-03 5.38555582e-05 9.99962344e-01 -1.52018925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.65, Y:-9.67, Z:-1.52 [[ 9.75145327e-01 2.21401319e-01 8.54671878e-03 6.66494086e+01] [-2.21392578e-01 9.75182780e-01 -1.96747580e-03 -9.66684004e+00] [-8.77021472e-03 2.63947283e-05 9.99961541e-01 -1.52064002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.68, Y:-9.67, Z:-1.52 [[ 9.74719614e-01 2.23272130e-01 8.43980877e-03 6.66772206e+01] [-2.23263681e-01 9.74756152e-01 -1.94247617e-03 -9.67303312e+00] [-8.66045632e-03 9.06684928e-06 9.99962498e-01 -1.52124718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.71, Y:-9.68, Z:-1.52 [[ 9.73965470e-01 2.26557947e-01 7.92206449e-03 6.67051719e+01] [-2.26550614e-01 9.73997688e-01 -1.82296730e-03 -9.67879089e+00] [-8.12908022e-03 -1.92413711e-05 9.99966958e-01 -1.52178622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:66.73, Y:-9.68, Z:-1.52 [[ 9.73548344e-01 2.28346956e-01 7.82875302e-03 6.67323731e+01] [-2.28339853e-01 9.73579820e-01 -1.80129385e-03 -9.68430259e+00] [-8.03323593e-03 -3.39696688e-05 9.99967732e-01 -1.52221291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:-9.69, Z:-1.52 [[ 9.73182068e-01 2.29895534e-01 8.04405448e-03 6.67609883e+01] [-2.29888095e-01 9.73215311e-01 -1.85005187e-03 -9.68989477e+00] [-8.25391564e-03 -4.87950569e-05 9.99965935e-01 -1.52271123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.79, Y:-9.70, Z:-1.52 [[ 9.72506748e-01 2.32705189e-01 8.88370265e-03 6.67883405e+01] [-2.32696237e-01 9.72547319e-01 -2.04273323e-03 -9.69537506e+00] [-9.11517582e-03 -8.06323238e-05 9.99958453e-01 -1.52349029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:-9.70, Z:-1.52 [[ 9.72238865e-01 2.33802869e-01 9.37056729e-03 6.68153565e+01] [-2.33792967e-01 9.72284017e-01 -2.15400421e-03 -9.70053823e+00] [-9.61446517e-03 -9.65661143e-05 9.99953775e-01 -1.52363299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.84, Y:-9.70, Z:-1.52 [[ 9.71835036e-01 2.35457116e-01 9.82897298e-03 6.68438310e+01] [-2.35446314e-01 9.71884732e-01 -2.25861001e-03 -9.70376229e+00] [-1.00844346e-02 -1.19199109e-04 9.99949144e-01 -1.52429656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.87, Y:-9.71, Z:-1.52 [[ 9.71662694e-01 2.36169387e-01 9.77906720e-03 6.68715740e+01] [-2.36158733e-01 9.71711894e-01 -2.24676578e-03 -9.70864657e+00] [-1.00330532e-02 -1.26313630e-04 9.99949660e-01 -1.52454816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.148623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:66.90, Y:-9.71, Z:-1.52 [[ 9.71644747e-01 2.36254525e-01 9.50181923e-03 6.69002621e+01] [-2.36244478e-01 9.71691198e-01 -2.18238852e-03 -9.71365811e+00] [-9.74843327e-03 -1.24245985e-04 9.99952475e-01 -1.51921510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.93, Y:-9.72, Z:-1.53 [[ 9.71668470e-01 2.36159678e-01 9.43352271e-03 6.69273184e+01] [-2.36149773e-01 9.71714254e-01 -2.16635126e-03 -9.71979912e+00] [-9.67829330e-03 -1.22749036e-04 9.99953157e-01 -1.52620181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:66.95, Y:-9.73, Z:-1.53 [[ 9.71707966e-01 2.35990303e-01 9.60241612e-03 6.69546376e+01] [-2.35980038e-01 9.71755402e-01 -2.20456060e-03 -9.72541561e+00] [-9.85145466e-03 -1.23789426e-04 9.99951466e-01 -1.52672442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.238623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:66.98, Y:-9.73, Z:-1.53 [[ 9.71953450e-01 2.34980994e-01 9.50913730e-03 6.69825070e+01] [-2.34970885e-01 9.71999959e-01 -2.18247781e-03 -9.72850096e+00] [-9.75572187e-03 -1.13103570e-04 9.99952405e-01 -1.52711285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:67.01, Y:-9.73, Z:-1.52 [[ 9.72164500e-01 2.34108659e-01 9.45097337e-03 6.70100270e+01] [-2.34098637e-01 9.72210433e-01 -2.16866820e-03 -9.73271688e+00] [-9.69603891e-03 -1.04157741e-04 9.99952987e-01 -1.52257160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.04, Y:-9.74, Z:-1.53 [[ 9.72549180e-01 2.32451874e-01 1.06873601e-02 6.70379431e+01] [-2.32438969e-01 9.72607895e-01 -2.45141335e-03 -9.73752968e+00] [-1.09644465e-02 -1.00038926e-04 9.99939884e-01 -1.52819514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.07, Y:-9.74, Z:-1.53 [[ 9.72809215e-01 2.31354112e-01 1.08400165e-02 6.70656178e+01] [-2.31340778e-01 9.72869604e-01 -2.48552374e-03 -9.74218762e+00] [-1.11209587e-02 -8.97974635e-05 9.99938156e-01 -1.52866999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35862385300001 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:67.09, Y:-9.75, Z:-1.52 [[ 9.73081378e-01 2.30238972e-01 1.01315467e-02 6.70946737e+01] [-2.30227270e-01 9.73134117e-01 -2.32245486e-03 -9.74636904e+00] [-1.03940734e-02 -7.26207623e-05 9.99945978e-01 -1.52268976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:67.12, Y:-9.75, Z:-1.52 [[ 9.73089636e-01 2.30204059e-01 1.01316819e-02 6.71232786e+01] [-2.30192361e-01 9.73142377e-01 -2.32186456e-03 -9.75283908e+00] [-1.03940717e-02 -7.28534564e-05 9.99945978e-01 -1.52325566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.15, Y:-9.76, Z:-1.53 [[ 9.73661489e-01 2.27767426e-01 1.02618021e-02 6.71509535e+01] [-2.27755292e-01 9.73715563e-01 -2.35149983e-03 -9.75770387e+00] [-1.05276715e-02 -4.76149120e-05 9.99944581e-01 -1.53123851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.18, Y:-9.76, Z:-1.53 [[ 9.73991323e-01 2.26344771e-01 1.04377918e-02 6.71788304e+01] [-2.26332144e-01 9.74047249e-01 -2.39106223e-03 -9.76318775e+00] [-1.07081068e-02 -3.35339334e-05 9.99942666e-01 -1.53230260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.478623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.21, Y:-9.77, Z:-1.53 [[ 9.74556174e-01 2.23936606e-01 9.62597872e-03 6.72063905e+01] [-2.23925752e-01 9.74603713e-01 -2.20478862e-03 -9.76655737e+00] [-9.87524747e-03 -6.81415359e-06 9.99951239e-01 -1.53334140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.508623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.24, Y:-9.77, Z:-1.53 [[ 9.74907637e-01 2.22403589e-01 9.57825780e-03 6.72351928e+01] [-2.22392776e-01 9.74954688e-01 -2.19313393e-03 -9.77193739e+00] [-9.82612820e-03 7.96768091e-06 9.99951722e-01 -1.53473752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.538623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.26, Y:-9.78, Z:-1.53 [[ 9.75286225e-01 2.20731525e-01 9.71461237e-03 6.72626054e+01] [-2.20720322e-01 9.75334606e-01 -2.22395388e-03 -9.77749632e+00] [-9.96589436e-03 2.47792090e-05 9.99950339e-01 -1.53492747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.29, Y:-9.78, Z:-1.54 [[ 9.75643657e-01 2.19137235e-01 9.91599724e-03 6.72911116e+01] [-2.19125488e-01 9.75694046e-01 -2.26928213e-03 -9.78328213e+00] [-1.01722637e-02 4.11629765e-05 9.99948260e-01 -1.53514914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.32, Y:-9.79, Z:-1.54 [[ 9.76216444e-01 2.16594672e-01 9.39164115e-03 6.73188537e+01] [-2.16584020e-01 9.76261617e-01 -2.14896745e-03 -9.78886887e+00] [-9.63415367e-03 6.37779631e-05 9.99953588e-01 -1.53619548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:67.35, Y:-9.80, Z:-1.54 [[ 9.76468787e-01 2.15443055e-01 9.64357674e-03 6.73468618e+01] [-2.15431776e-01 9.76516402e-01 -2.20582840e-03 -9.79533743e+00] [-9.89234127e-03 7.63897232e-05 9.99951067e-01 -1.53663027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:67.37, Y:-9.80, Z:-1.54 [[ 9.76747317e-01 2.14142630e-01 1.03736654e-02 6.73747222e+01] [-2.14129511e-01 9.76802398e-01 -2.37224687e-03 -9.80164695e+00] [-1.06410205e-02 9.57778566e-05 9.99943378e-01 -1.53733650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.40, Y:-9.81, Z:-1.54 [[ 9.77126236e-01 2.12403573e-01 1.04422663e-02 6.74019444e+01] [-2.12390185e-01 9.77182024e-01 -2.38750204e-03 -9.80752938e+00] [-1.07111089e-02 1.15056001e-04 9.99942628e-01 -1.53790556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.43, Y:-9.81, Z:-1.54 [[ 9.77288162e-01 2.11653698e-01 1.05147466e-02 6.74306307e+01] [-2.11640089e-01 9.77344718e-01 -2.40331062e-03 -9.81359292e+00] [-1.07852016e-02 1.23385115e-04 9.99941830e-01 -1.53885861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.46, Y:-9.82, Z:-1.54 [[ 9.77394954e-01 2.11188754e-01 9.92041909e-03 6.74580494e+01] [-2.11176620e-01 9.77445290e-01 -2.26711887e-03 -9.81942621e+00] [-1.01754569e-02 1.20909969e-04 9.99948221e-01 -1.53944814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.778623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.49, Y:-9.83, Z:-1.54 [[ 9.77497485e-01 2.10726651e-01 9.64078555e-03 6.74857322e+01] [-2.10715176e-01 9.77545019e-01 -2.20251346e-03 -9.82632485e+00] [-9.88843018e-03 1.21491546e-04 9.99951101e-01 -1.54035403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.51, Y:-9.83, Z:-1.54 [[ 9.77503694e-01 2.10697315e-01 9.65240629e-03 6.75125794e+01] [-2.10685814e-01 9.77551342e-01 -2.20482487e-03 -9.83305188e+00] [-9.90027340e-03 1.21599385e-04 9.99950984e-01 -1.54068776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:67.54, Y:-9.84, Z:-1.54 [[ 9.77521674e-01 2.10579846e-01 1.03684802e-02 6.75410395e+01] [-2.10566579e-01 9.77576652e-01 -2.36740027e-03 -9.84003773e+00] [-1.06345110e-02 1.30929667e-04 9.99943443e-01 -1.54069193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:67.57, Y:-9.85, Z:-1.54 [[ 9.77424964e-01 2.10995461e-01 1.10161670e-02 6.75694524e+01] [-2.10980517e-01 9.77487032e-01 -2.51468036e-03 -9.84728065e+00] [-1.12987465e-02 1.33714744e-04 9.99936158e-01 -1.54092526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:-9.85, Z:-1.54 [[ 9.77354005e-01 2.11314722e-01 1.11909431e-02 6.75973004e+01] [-2.11299328e-01 9.77418064e-01 -2.55401758e-03 -9.85403619e+00] [-1.14779315e-02 1.31540550e-04 9.99934118e-01 -1.54122871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.63, Y:-9.86, Z:-1.54 [[ 9.77251992e-01 2.11760512e-01 1.16631521e-02 6.76253480e+01] [-2.11743830e-01 9.77321579e-01 -2.66116476e-03 -9.86096114e+00] [-1.19621798e-02 1.31028061e-04 9.99928442e-01 -1.54187579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.65, Y:-9.87, Z:-1.54 [[ 9.76855175e-01 2.13557801e-01 1.21257350e-02 6.76531567e+01] [-2.13539917e-01 9.76930424e-01 -2.76605491e-03 -9.86774586e+00] [-1.24367121e-02 1.12706597e-04 9.99922655e-01 -1.54234103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.68, Y:-9.87, Z:-1.54 [[ 9.76617985e-01 2.14624227e-01 1.23997000e-02 6.76805359e+01] [-2.14605618e-01 9.76696694e-01 -2.82801163e-03 -9.87435823e+00] [-1.27177058e-02 1.00841738e-04 9.99919122e-01 -1.54267250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.71, Y:-9.88, Z:-1.54 [[ 9.76335804e-01 2.15881193e-01 1.27948664e-02 6.77083390e+01] [-2.15861500e-01 9.76419635e-01 -2.91712071e-03 -9.88141117e+00] [-1.31229102e-02 8.61703420e-05 9.99913887e-01 -1.54285197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:67.74, Y:-9.89, Z:-1.54 [[ 9.75762678e-01 2.18444629e-01 1.30053655e-02 6.77356619e+01] [-2.18424518e-01 9.75849344e-01 -2.96453869e-03 -9.88788734e+00] [-1.33388649e-02 5.19955215e-05 9.99911032e-01 -1.54319026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:67.76, Y:-9.89, Z:-1.54 [[ 9.75439089e-01 2.19902221e-01 1.27120518e-02 6.77633663e+01] [-2.19883143e-01 9.75521918e-01 -2.89673757e-03 -9.89407471e+00] [-1.30378842e-02 3.04251463e-05 9.99915003e-01 -1.54406445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:67.79, Y:-9.90, Z:-1.54 [[ 9.75150160e-01 2.21203289e-01 1.22991663e-02 6.77918346e+01] [-2.21185541e-01 9.75227719e-01 -2.80206509e-03 -9.90066853e+00] [-1.26143139e-02 1.20364727e-05 9.99920436e-01 -1.54479684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:67.82, Y:-9.91, Z:-1.55 [[ 9.74875674e-01 2.22426527e-01 1.19941629e-02 6.78188300e+01] [-2.22409747e-01 9.74949455e-01 -2.73208431e-03 -9.90698945e+00] [-1.23013906e-02 -4.17621391e-06 9.99924335e-01 -1.54551369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:67.85, Y:-9.91, Z:-1.54 [[ 9.74426807e-01 2.24387816e-01 1.19376152e-02 6.78464004e+01] [-2.24371350e-01 9.74499927e-01 -2.71849583e-03 -9.91289616e+00] [-1.22432025e-02 -2.94836289e-05 9.99925049e-01 -1.54242506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.198623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.87, Y:-9.92, Z:-1.54 [[ 9.74242836e-01 2.25177208e-01 1.20880601e-02 6.78747726e+01] [-2.25160396e-01 9.74317825e-01 -2.75181386e-03 -9.91934982e+00] [-1.23972582e-02 -4.08174687e-05 9.99923150e-01 -1.54320253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:67.90, Y:-9.93, Z:-1.55 [[ 9.73821802e-01 2.26963393e-01 1.25982304e-02 6.79024431e+01] [-2.26945291e-01 9.73903288e-01 -2.86729621e-03 -9.92558260e+00] [-1.29202293e-02 -6.68735028e-05 9.99916528e-01 -1.54786027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.258623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:67.93, Y:-9.93, Z:-1.55 [[ 9.73518742e-01 2.28245201e-01 1.28602653e-02 6.79301889e+01] [-2.28226458e-01 9.73603677e-01 -2.92628528e-03 -9.93146586e+00] [-1.31887121e-02 -8.62592239e-05 9.99913021e-01 -1.54847083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.96, Y:-9.94, Z:-1.55 [[ 9.73221642e-01 2.29517375e-01 1.27047340e-02 6.79574179e+01] [-2.29499197e-01 9.73304559e-01 -2.89043341e-03 -9.93690503e+00] [-1.30289802e-02 -1.02693916e-04 9.99915114e-01 -1.54891945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.318623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:67.98, Y:-9.94, Z:-1.55 [[ 9.72593914e-01 2.32183165e-01 1.23310703e-02 6.79845528e+01] [-2.32166267e-01 9.72672072e-01 -2.80448443e-03 -9.94124407e+00] [-1.26452418e-02 -1.35234075e-04 9.99920037e-01 -1.54951700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:68.01, Y:-9.95, Z:-1.55 [[ 9.72341457e-01 2.33256570e-01 1.19776379e-02 6.80109756e+01] [-2.33240712e-01 9.72415216e-01 -2.72372222e-03 -9.94597696e+00] [-1.22825634e-02 -1.45284763e-04 9.99924556e-01 -1.54996851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.04, Y:-9.95, Z:-1.55 [[ 9.72212375e-01 2.33768608e-01 1.24633986e-02 6.80398506e+01] [-2.33751502e-01 9.72292247e-01 -2.83243985e-03 -9.95118749e+00] [-1.27802013e-02 -1.59605067e-04 9.99918317e-01 -1.55116826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:68.07, Y:-9.96, Z:-1.55 [[ 9.72030592e-01 2.34558211e-01 1.17887333e-02 6.80669333e+01] [-2.34542971e-01 9.72102062e-01 -2.67865276e-03 -9.95560367e+00] [-1.20881520e-02 -1.61232114e-04 9.99926923e-01 -1.55205547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:68.09, Y:-9.96, Z:-1.55 [[ 9.72134201e-01 2.34151354e-01 1.13242415e-02 6.80941453e+01] [-2.34137271e-01 9.72200144e-01 -2.57248614e-03 -9.96071544e+00] [-1.16117803e-02 -1.50625234e-04 9.99932570e-01 -1.55334401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.12, Y:-9.97, Z:-1.55 [[ 9.72370173e-01 2.33155110e-01 1.16164267e-02 6.81222544e+01] [-2.33140232e-01 9.72439548e-01 -2.63785563e-03 -9.96625620e+00] [-1.19113022e-02 -1.43284272e-04 9.99929048e-01 -1.55389858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.498623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:68.15, Y:-9.97, Z:-1.55 [[ 9.73082360e-01 2.30174716e-01 1.14157867e-02 6.81510716e+01] [-2.30160148e-01 9.73149315e-01 -2.59172889e-03 -9.97007397e+00] [-1.17058154e-02 -1.05493491e-04 9.99931479e-01 -1.54829044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:68.18, Y:-9.98, Z:-1.55 [[ 9.73548111e-01 2.28196552e-01 1.14196530e-02 6.81781190e+01] [-2.28181845e-01 9.73615081e-01 -2.59210381e-03 -9.97525788e+00] [-1.17098555e-02 -8.22197120e-05 9.99931434e-01 -1.55462848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.558623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:68.21, Y:-9.98, Z:-1.55 [[ 9.74107140e-01 2.25772905e-01 1.19111075e-02 6.82057154e+01] [-2.25756732e-01 9.74179959e-01 -2.70290880e-03 -9.97992643e+00] [-1.22138058e-02 -5.60899537e-05 9.99925407e-01 -1.55252873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.23, Y:-9.99, Z:-1.56 [[ 9.75189855e-01 2.21026984e-01 1.23214615e-02 6.82329590e+01] [-2.21009312e-01 9.75267693e-01 -2.79496616e-03 -9.98680092e+00] [-1.26344862e-02 2.46492896e-06 9.99920182e-01 -1.55561120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.26, Y:-9.99, Z:-1.56 [[ 9.75730108e-01 2.18600482e-01 1.28290549e-02 6.82611741e+01] [-2.18581126e-01 9.75814443e-01 -2.90917995e-03 -9.99361995e+00] [-1.31547252e-02 3.43851992e-05 9.99913472e-01 -1.55647566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.29, Y:-10.00, Z:-1.56 [[ 9.76595716e-01 2.14710368e-01 1.26596040e-02 6.82885233e+01] [-2.14691199e-01 9.76677762e-01 -2.87021261e-03 -9.99998514e+00] [-1.29806181e-02 8.51317667e-05 9.99915745e-01 -1.55660931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.678623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.32, Y:-10.01, Z:-1.56 [[ 9.76968648e-01 2.13004226e-01 1.27067573e-02 6.83170132e+01] [-2.12984781e-01 9.77051272e-01 -2.88003731e-03 -1.00069207e+01] [-1.30286135e-02 1.07360235e-04 9.99915118e-01 -1.55733694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:68.34, Y:-10.01, Z:-1.55 [[ 9.77290031e-01 2.11538560e-01 1.24752696e-02 6.83439606e+01] [-2.11519705e-01 9.77369645e-01 -2.82707243e-03 -1.00128338e+01] [-1.27909847e-02 1.24104358e-04 9.99918184e-01 -1.55182510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.37, Y:-10.02, Z:-1.56 [[ 9.77693340e-01 2.09647511e-01 1.27927347e-02 6.83721696e+01] [-2.09627535e-01 9.77777019e-01 -2.89803254e-03 -1.00191920e+01] [-1.31160073e-02 1.51677676e-04 9.99913970e-01 -1.55831128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:68.40, Y:-10.03, Z:-1.56 [[ 9.77862894e-01 2.08862229e-01 1.26778951e-02 6.83998542e+01] [-2.08842551e-01 9.77945062e-01 -2.87140429e-03 -1.00253843e+01] [-1.29980128e-02 1.60155759e-04 9.99915509e-01 -1.55871457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.43, Y:-10.03, Z:-1.56 [[ 9.77918836e-01 2.08586846e-01 1.28948537e-02 6.84275900e+01] [-2.08566475e-01 9.78003834e-01 -2.91986242e-03 -1.00323324e+01] [-1.32202613e-02 1.65954282e-04 9.99912595e-01 -1.55911601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.46, Y:-10.04, Z:-1.56 [[ 9.77896975e-01 2.08691145e-01 1.28651282e-02 6.84554993e+01] [-2.08670886e-01 9.77981584e-01 -2.91238701e-03 -1.00397125e+01] [-1.31896479e-02 1.63436741e-04 9.99912999e-01 -1.55926134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.48, Y:-10.05, Z:-1.56 [[ 9.77817360e-01 2.09041624e-01 1.32215437e-02 6.84831018e+01] [-2.09020266e-01 9.77906730e-01 -2.99260971e-03 -1.00462126e+01] [-1.35550166e-02 1.62655146e-04 9.99908113e-01 -1.55991569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.51, Y:-10.05, Z:-1.56 [[ 9.77686806e-01 2.09657459e-01 1.31247705e-02 6.85104033e+01] [-2.09636476e-01 9.77774885e-01 -2.97010893e-03 -1.00527015e+01] [-1.34557765e-02 1.52405673e-04 9.99909455e-01 -1.56044230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.54, Y:-10.06, Z:-1.56 [[ 9.77594161e-01 2.10090826e-01 1.30958262e-02 6.85385573e+01] [-2.10069986e-01 9.77681862e-01 -2.96265121e-03 -1.00591673e+01] [-1.34259776e-02 1.45230491e-04 9.99909857e-01 -1.56057610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.57, Y:-10.07, Z:-1.56 [[ 9.77295455e-01 2.11414787e-01 1.40492505e-02 6.85657863e+01] [-2.11390948e-01 9.77396424e-01 -3.17762028e-03 -1.00659390e+01] [-1.44034831e-02 1.35589459e-04 9.99896255e-01 -1.56114221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.978623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.59, Y:-10.07, Z:-1.56 [[ 9.77239864e-01 2.11668760e-01 1.40919618e-02 6.85927311e+01] [-2.11644816e-01 9.77341455e-01 -3.18638147e-03 -1.00725925e+01] [-1.44471158e-02 1.31368345e-04 9.99895626e-01 -1.56165720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.62, Y:-10.08, Z:-1.56 [[ 9.77150035e-01 2.12087699e-01 1.40220055e-02 6.86208877e+01] [-2.12064049e-01 9.77250629e-01 -3.16963578e-03 -1.00796190e+01] [-1.43752544e-02 1.23646456e-04 9.99896663e-01 -1.56204949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.038623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.65, Y:-10.09, Z:-1.56 [[ 9.77073437e-01 2.12447436e-01 1.39134777e-02 6.86483338e+01] [-2.12424197e-01 9.77172489e-01 -3.14441621e-03 -1.00869908e+01] [-1.42638908e-02 1.16766230e-04 9.99898259e-01 -1.56307259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.68, Y:-10.09, Z:-1.56 [[ 9.77007668e-01 2.12769118e-01 1.36132152e-02 6.86750010e+01] [-2.12746911e-01 9.77102497e-01 -3.07596359e-03 -1.00936742e+01] [-1.39559766e-02 1.09070544e-04 9.99902605e-01 -1.56336954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.098623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.70, Y:-10.10, Z:-1.56 [[ 9.76744449e-01 2.14020440e-01 1.28659801e-02 6.87025353e+01] [-2.14000723e-01 9.76829178e-01 -2.90630791e-03 -1.01016044e+01] [-1.31898741e-02 8.53910695e-05 9.99913006e-01 -1.56466578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.73, Y:-10.11, Z:-1.57 [[ 9.76605221e-01 2.14673901e-01 1.25442433e-02 6.87302449e+01] [-2.14655219e-01 9.76685779e-01 -2.83304185e-03 -1.01083982e+01] [-1.28599642e-02 7.40761579e-05 9.99917304e-01 -1.56562287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.76, Y:-10.12, Z:-1.57 [[ 9.76285710e-01 2.16099893e-01 1.29247288e-02 6.87577437e+01] [-2.16080195e-01 9.76371258e-01 -2.91830209e-03 -1.01154680e+01] [-1.32499784e-02 5.63187190e-05 9.99912214e-01 -1.56562230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:-10.12, Z:-1.57 [[ 9.76192525e-01 2.16496537e-01 1.33192933e-02 6.87845654e+01] [-2.16475663e-01 9.76283384e-01 -3.00679594e-03 -1.01222304e+01] [-1.36543656e-02 5.19088885e-05 9.99906773e-01 -1.56599484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.81, Y:-10.13, Z:-1.57 [[ 9.76116064e-01 2.16834711e-01 1.34215387e-02 6.88125887e+01] [-2.16813560e-01 9.76208331e-01 -3.02890432e-03 -1.01297270e+01] [-1.37589895e-02 4.65905828e-05 9.99905340e-01 -1.56653978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:-10.14, Z:-1.57 [[ 9.76077855e-01 2.17011532e-01 1.33422507e-02 6.88394539e+01] [-2.16990655e-01 9.76169039e-01 -3.01043215e-03 -1.01369986e+01] [-1.36775905e-02 4.32724368e-05 9.99906456e-01 -1.56676105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:-10.14, Z:-1.57 [[ 9.76089153e-01 2.16960698e-01 1.33424643e-02 6.88672795e+01] [-2.16939829e-01 9.76180339e-01 -3.00948490e-03 -1.01431327e+01] [-1.36775913e-02 4.30136376e-05 9.99906456e-01 -1.56731083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:68.90, Y:-10.15, Z:-1.57 [[ 9.75888205e-01 2.17877831e-01 1.30943820e-02 6.88950762e+01] [-2.17857824e-01 9.75976050e-01 -2.95278908e-03 -1.01498362e+01] [-1.34231505e-02 2.88784711e-05 9.99909905e-01 -1.56788941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.92, Y:-10.16, Z:-1.57 [[ 9.75920302e-01 2.17715791e-01 1.33939657e-02 6.89236930e+01] [-2.17694850e-01 9.76012210e-01 -3.01970082e-03 -1.01562607e+01] [-1.37301106e-02 3.11899764e-05 9.99905737e-01 -1.56828070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:68.95, Y:-10.16, Z:-1.57 [[ 9.75860023e-01 2.17949515e-01 1.39722607e-02 6.89514428e+01] [-2.17926761e-01 9.75960044e-01 -3.14935166e-03 -1.01629859e+01] [-1.43227678e-02 2.83968674e-05 9.99897423e-01 -1.56920781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.398623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:68.98, Y:-10.17, Z:-1.56 [[ 9.75747553e-01 2.18463075e-01 1.38056866e-02 6.89784852e+01] [-2.18440921e-01 9.75845215e-01 -3.11118463e-03 -1.01699052e+01] [-1.41518922e-02 2.00038843e-05 9.99899857e-01 -1.56490431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.01, Y:-10.18, Z:-1.57 [[ 9.75618611e-01 2.18974423e-01 1.47826806e-02 6.90059969e+01] [-2.18949097e-01 9.75730599e-01 -3.33029522e-03 -1.01774183e+01] [-1.51531633e-02 1.24434286e-05 9.99885184e-01 -1.56878388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.03, Y:-10.18, Z:-1.57 [[ 9.75539709e-01 2.19312674e-01 1.49742302e-02 6.90330576e+01] [-2.19286738e-01 9.75654627e-01 -3.37273948e-03 -1.01847730e+01] [-1.53493615e-02 6.59119317e-06 9.99882192e-01 -1.56907728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.06, Y:-10.19, Z:-1.57 [[ 9.75488882e-01 2.19496073e-01 1.55857458e-02 6.90596731e+01] [-2.19468015e-01 9.75613384e-01 -3.50945959e-03 -1.01921001e+01] [-1.59759748e-02 2.86611295e-06 9.99872376e-01 -1.56950059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:-10.20, Z:-1.57 [[ 9.75457257e-01 2.19651163e-01 1.53787710e-02 6.90878201e+01] [-2.19623880e-01 9.75578478e-01 -3.46187992e-03 -1.01983457e+01] [-1.57636040e-02 -6.29472927e-07 9.99875747e-01 -1.57006616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.12, Y:-10.20, Z:-1.57 [[ 9.75391315e-01 2.19944213e-01 1.53728592e-02 6.91153275e+01] [-2.19916999e-01 9.75512451e-01 -3.45984998e-03 -1.02048754e+01] [-1.57573895e-02 -6.04543813e-06 9.99875845e-01 -1.57113001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.14, Y:-10.21, Z:-1.57 [[ 9.75334192e-01 2.20210527e-01 1.51834869e-02 6.91424694e+01] [-2.20184027e-01 9.75452369e-01 -3.41622865e-03 -1.02133980e+01] [-1.55630578e-02 -1.11966674e-05 9.99878888e-01 -1.57136589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.17, Y:-10.22, Z:-1.57 [[ 9.75244770e-01 2.20625700e-01 1.48976136e-02 6.91707162e+01] [-2.20600248e-01 9.75358549e-01 -3.35120745e-03 -1.02213775e+01] [-1.52698773e-02 -1.81697168e-05 9.99883408e-01 -1.57178809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:69.20, Y:-10.23, Z:-1.57 [[ 9.75141964e-01 2.21116784e-01 1.43358999e-02 6.91984049e+01] [-2.21093278e-01 9.75247336e-01 -3.22419875e-03 -1.02284781e+01] [-1.46939727e-02 -2.55196045e-05 9.99892037e-01 -1.56692008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.22, Y:-10.24, Z:-1.57 [[ 9.74848451e-01 2.22442770e-01 1.37735793e-02 6.92249308e+01] [-2.22421211e-01 9.74945748e-01 -3.09717468e-03 -1.02354448e+01] [-1.41174367e-02 -4.42602450e-05 9.99900343e-01 -1.57318965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:-10.24, Z:-1.57 [[ 9.74616757e-01 2.23480875e-01 1.33594901e-02 6.92525316e+01] [-2.23460702e-01 9.74708313e-01 -3.00325471e-03 -1.02415685e+01] [-1.36927760e-02 -5.82986589e-05 9.99906248e-01 -1.57367257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.28, Y:-10.25, Z:-1.57 [[ 9.74397366e-01 2.24439577e-01 1.32909442e-02 6.92807280e+01] [-2.24419712e-01 9.74488004e-01 -2.98700336e-03 -1.02470703e+01] [-1.36222674e-02 -7.22216565e-05 9.99907210e-01 -1.57481001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.31, Y:-10.25, Z:-1.58 [[ 9.74015753e-01 2.26129989e-01 1.25913468e-02 6.93079465e+01] [-2.26112307e-01 9.74097131e-01 -2.82930145e-03 -1.02525651e+01] [-1.29049847e-02 -9.12742942e-05 9.99916723e-01 -1.57616730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.34, Y:-10.26, Z:-1.58 [[ 9.73825031e-01 2.26956941e-01 1.24641830e-02 6.93357818e+01] [-2.26939692e-01 9.73904788e-01 -2.79992948e-03 -1.02591582e+01] [-1.27743909e-02 -1.01976430e-04 9.99918399e-01 -1.57688490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:-10.27, Z:-1.58 [[ 9.73709039e-01 2.27452452e-01 1.24935930e-02 6.93640510e+01] [-2.27435170e-01 9.73789181e-01 -2.80594989e-03 -1.02663123e+01] [-1.28043459e-02 -1.09303679e-04 9.99918015e-01 -1.57756633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.39, Y:-10.27, Z:-1.58 [[ 9.73762505e-01 2.27215009e-01 1.26460814e-02 6.93911115e+01] [-2.27197289e-01 9.73844612e-01 -2.83967829e-03 -1.02743476e+01] [-1.29605358e-02 -1.07983164e-04 9.99916003e-01 -1.57789538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:69.42, Y:-10.28, Z:-1.57 [[ 9.73826373e-01 2.26943287e-01 1.26070976e-02 6.94183943e+01] [-2.26925663e-01 9.73907970e-01 -2.83018172e-03 -1.02806831e+01] [-1.29204436e-02 -1.04768383e-04 9.99916522e-01 -1.57213975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:-10.29, Z:-1.58 [[ 9.73968492e-01 2.26305802e-01 1.30790491e-02 6.94469663e+01] [-2.26286787e-01 9.74056299e-01 -2.93527816e-03 -1.02867735e+01] [-1.34040006e-02 -1.00747561e-04 9.99910157e-01 -1.57848843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.47, Y:-10.29, Z:-1.58 [[ 9.74265902e-01 2.25022048e-01 1.30778417e-02 6.94741022e+01] [-2.25002928e-01 9.74353668e-01 -2.93447569e-03 -1.02926921e+01] [-1.34027647e-02 -8.35930720e-05 9.99910175e-01 -1.57947611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.50, Y:-10.30, Z:-1.58 [[ 9.74416662e-01 2.24347489e-01 1.34302704e-02 6.95031288e+01] [-2.24327275e-01 9.74509209e-01 -3.01259255e-03 -1.02999716e+01] [-1.37637898e-02 -7.72555829e-05 9.99905272e-01 -1.58015248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.53, Y:-10.31, Z:-1.58 [[ 9.74592901e-01 2.23584979e-01 1.33579536e-02 6.95312018e+01] [-2.23564915e-01 9.74684437e-01 -2.99606120e-03 -1.03076721e+01] [-1.36896638e-02 -6.64297838e-05 9.99906290e-01 -1.58058017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.56, Y:-10.32, Z:-1.58 [[ 9.74913513e-01 2.22203745e-01 1.30053137e-02 6.95592678e+01] [-2.22184606e-01 9.75000253e-01 -2.91671539e-03 -1.03155085e+01] [-1.33282892e-02 -4.60352351e-05 9.99911173e-01 -1.58104145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.59, Y:-10.32, Z:-1.58 [[ 9.74986333e-01 2.21900194e-01 1.27260865e-02 6.95860620e+01] [-2.21881849e-01 9.75069383e-01 -2.85360010e-03 -1.03216753e+01] [-1.30420317e-02 -4.14665063e-05 9.99914948e-01 -1.58156205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.61, Y:-10.33, Z:-1.58 [[ 9.75045643e-01 2.21635645e-01 1.27920148e-02 6.96140392e+01] [-2.21617097e-01 9.75129550e-01 -2.86758742e-03 -1.03279871e+01] [-1.31094312e-02 -3.89005750e-05 9.99914067e-01 -1.58200493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.64, Y:-10.33, Z:-1.58 [[ 9.75116108e-01 2.21321409e-01 1.28611420e-02 6.96411725e+01] [-2.21302640e-01 9.75200919e-01 -2.88256353e-03 -1.03345948e+01] [-1.31801705e-02 -3.53705309e-05 9.99913137e-01 -1.58300992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:-10.34, Z:-1.58 [[ 9.75299062e-01 2.20552560e-01 1.21781335e-02 6.96687673e+01] [-2.20535680e-01 9.75375091e-01 -2.72877434e-03 -1.03419305e+01] [-1.24800862e-02 -2.43418950e-05 9.99922120e-01 -1.58362621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.70, Y:-10.35, Z:-1.58 [[ 9.75360126e-01 2.20296099e-01 1.19270308e-02 6.96971956e+01] [-2.20279897e-01 9.75433046e-01 -2.67184922e-03 -1.03496962e+01] [-1.22226179e-02 -2.12699181e-05 9.99925301e-01 -1.58438344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.73, Y:-10.36, Z:-1.58 [[ 9.75364325e-01 2.20308233e-01 1.13453476e-02 6.97253405e+01] [-2.20293576e-01 9.75430306e-01 -2.54129820e-03 -1.03579043e+01] [-1.16264648e-02 -2.06155923e-05 9.99932410e-01 -1.58458031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.75, Y:-10.36, Z:-1.59 [[ 9.75309822e-01 2.20569669e-01 1.09440771e-02 6.97542504e+01] [-2.20556050e-01 9.75371222e-01 -2.45116200e-03 -1.03647990e+01] [-1.12151898e-02 -2.31400410e-05 9.99937108e-01 -1.58520044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.78, Y:-10.37, Z:-1.59 [[ 9.75211011e-01 2.21005794e-01 1.09509164e-02 6.97819202e+01] [-2.20992187e-01 9.75272494e-01 -2.45251759e-03 -1.03711428e+01] [-1.12221482e-02 -2.83448163e-05 9.99937029e-01 -1.58607803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:-10.38, Z:-1.59 [[ 9.75063890e-01 2.21643856e-01 1.11540367e-02 6.98106311e+01] [-2.21629787e-01 9.75127684e-01 -2.49748624e-03 -1.03782888e+01] [-1.14301624e-02 -3.68581266e-05 9.99934673e-01 -1.58618285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.84, Y:-10.38, Z:-1.59 [[ 9.74946757e-01 2.22145825e-01 1.14040735e-02 6.98387406e+01] [-2.22131156e-01 9.75013451e-01 -2.55327066e-03 -1.03849708e+01] [-1.16863235e-02 -4.38970723e-05 9.99931712e-01 -1.58657029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.87, Y:-10.39, Z:-1.59 [[ 9.74474801e-01 2.24168982e-01 1.21297018e-02 6.98664212e+01] [-2.24152549e-01 9.74550287e-01 -2.71524282e-03 -1.03915522e+01] [-1.24296776e-02 -7.29678603e-05 9.99922746e-01 -1.58645215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:-10.40, Z:-1.59 [[ 9.74191237e-01 2.25397292e-01 1.21446954e-02 6.98953162e+01] [-2.25380920e-01 9.74266931e-01 -2.71807439e-03 -1.03981795e+01] [-1.24448217e-02 -8.92583770e-05 9.99922556e-01 -1.58649708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:69.92, Y:-10.40, Z:-1.59 [[ 9.73923724e-01 2.26551912e-01 1.21165598e-02 6.99225674e+01] [-2.26535706e-01 9.73999086e-01 -2.71174040e-03 -1.04040005e+01] [-1.24158681e-02 -1.03805109e-04 9.99922915e-01 -1.58751949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.95, Y:-10.41, Z:-1.59 [[ 9.73402846e-01 2.28849970e-01 1.07046537e-02 6.99499387e+01] [-2.28837466e-01 9.73461698e-01 -2.39520377e-03 -1.04099319e+01] [-1.09687126e-02 -1.18127650e-04 9.99939835e-01 -1.58857148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.478623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:69.98, Y:-10.42, Z:-1.58 [[ 9.73085694e-01 2.30239556e-01 9.69431969e-03 6.99767552e+01] [-2.30229374e-01 9.73133974e-01 -2.16867672e-03 -1.04159671e+01] [-9.93318702e-03 -1.21608862e-04 9.99950657e-01 -1.58266813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:-10.42, Z:-1.59 [[ 9.72896008e-01 2.31027046e-01 9.99308771e-03 7.00052555e+01] [-2.31016276e-01 9.72947319e-01 -2.23475029e-03 -1.04216557e+01] [-1.02390357e-02 -1.34386271e-04 9.99947571e-01 -1.58997119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:-10.43, Z:-1.59 [[ 9.72727586e-01 2.31722972e-01 1.02717044e-02 7.00328841e+01] [-2.31711636e-01 9.72781807e-01 -2.29664773e-03 -1.04272596e+01] [-1.05243132e-02 -1.46060835e-04 9.99944607e-01 -1.59018244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.06, Y:-10.43, Z:-1.59 [[ 9.72449681e-01 2.32859843e-01 1.08586695e-02 7.00616640e+01] [-2.32847255e-01 9.72510290e-01 -2.42709130e-03 -1.04327810e+01] [-1.11253399e-02 -1.68187211e-04 9.99938097e-01 -1.59018302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:-10.44, Z:-1.59 [[ 9.72358933e-01 2.33211681e-01 1.14200806e-02 7.00892214e+01] [-2.33197787e-01 9.72425976e-01 -2.55208507e-03 -1.04385237e+01] [-1.17003591e-02 -1.81594815e-04 9.99931532e-01 -1.59051226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.12, Y:-10.44, Z:-1.59 [[ 9.72323435e-01 2.33357089e-01 1.14719818e-02 7.01178124e+01] [-2.33343088e-01 9.72391091e-01 -2.56292842e-03 -1.04446322e+01] [-1.17533305e-02 -1.84912305e-04 9.99930910e-01 -1.58656128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:70.15, Y:-10.45, Z:-1.59 [[ 9.72259772e-01 2.33608846e-01 1.17406230e-02 7.01455355e+01] [-2.33594205e-01 9.72330638e-01 -2.62248501e-03 -1.04502415e+01] [-1.20284031e-02 -1.92804808e-04 9.99927638e-01 -1.58683310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.17, Y:-10.46, Z:-1.59 [[ 9.72280938e-01 2.33510427e-01 1.19439338e-02 7.01742139e+01] [-2.33495278e-01 9.72354278e-01 -2.66705527e-03 -1.04560004e+01] [-1.22365204e-02 -1.95725155e-04 9.99925112e-01 -1.58667138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:-10.46, Z:-1.59 [[ 9.72340603e-01 2.33232066e-01 1.25121911e-02 7.02009334e+01] [-2.33215424e-01 9.72421083e-01 -2.79340730e-03 -1.04615439e+01] [-1.28186306e-02 -2.01892621e-04 9.99917818e-01 -1.59265801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:70.23, Y:-10.47, Z:-1.59 [[ 9.72500707e-01 2.32570090e-01 1.23906218e-02 7.02292049e+01] [-2.32553726e-01 9.72579620e-01 -2.76549882e-03 -1.04677234e+01] [-1.26940385e-02 -1.92035707e-04 9.99919409e-01 -1.58749958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:-10.47, Z:-1.59 [[ 9.72879512e-01 2.30991398e-01 1.21831883e-02 7.02583276e+01] [-2.30975462e-01 9.72955778e-01 -2.71853778e-03 -1.04728039e+01] [-1.24816623e-02 -1.69207847e-04 9.99922087e-01 -1.59384164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:70.29, Y:-10.48, Z:-1.59 [[ 9.73164606e-01 2.29836461e-01 1.12183591e-02 7.02867061e+01] [-2.29822874e-01 9.73229254e-01 -2.50309358e-03 -1.04780834e+01] [-1.14933374e-02 -1.42313461e-04 9.99933939e-01 -1.58784177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:-10.48, Z:-1.60 [[ 9.73494956e-01 2.28409711e-01 1.16865271e-02 7.03138368e+01] [-2.28394867e-01 9.73565091e-01 -2.60728238e-03 -1.04827562e+01] [-1.19731234e-02 -1.30966561e-04 9.99928311e-01 -1.59547119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.868623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.34, Y:-10.49, Z:-1.60 [[ 9.73792166e-01 2.27134500e-01 1.17786259e-02 7.03418793e+01] [-2.27119339e-01 9.73863391e-01 -2.62690433e-03 -1.04884184e+01] [-1.20674332e-02 -1.17094882e-04 9.99927179e-01 -1.59601317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:-10.49, Z:-1.60 [[ 9.74315988e-01 2.24908882e-01 1.11512600e-02 7.03696177e+01] [-2.24895152e-01 9.74379796e-01 -2.48658309e-03 -1.04934394e+01] [-1.14248170e-02 -8.51466439e-05 9.99934731e-01 -1.59646109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.40, Y:-10.50, Z:-1.60 [[ 9.74535351e-01 2.23953225e-01 1.12161523e-02 7.03970835e+01] [-2.23939280e-01 9.74599891e-01 -2.50034214e-03 -1.04983739e+01] [-1.14912205e-02 -7.50652482e-05 9.99933971e-01 -1.59708237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:-10.50, Z:-1.60 [[ 9.74640406e-01 2.23495177e-01 1.12243051e-02 7.04253342e+01] [-2.23481189e-01 9.74705033e-01 -2.50143483e-03 -1.05035234e+01] [-1.14994453e-02 -7.04216010e-05 9.99933877e-01 -1.59754427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.45, Y:-10.51, Z:-1.60 [[ 9.74746911e-01 2.23017718e-01 1.14698275e-02 7.04542510e+01] [-2.23003085e-01 9.74814389e-01 -2.55556146e-03 -1.05076371e+01] [-1.17508884e-02 -6.67812811e-05 9.99930954e-01 -1.59802987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:-10.51, Z:-1.60 [[ 9.74790993e-01 2.22826759e-01 1.14348425e-02 7.04826328e+01] [-2.22812209e-01 9.74858057e-01 -2.54719470e-03 -1.05123453e+01] [-1.17149315e-02 -6.48400618e-05 9.99931376e-01 -1.59889647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.51, Y:-10.52, Z:-1.60 [[ 9.74873513e-01 2.22473079e-01 1.12855344e-02 7.05101512e+01] [-2.22458888e-01 9.74938832e-01 -2.51347667e-03 -1.05153658e+01] [-1.15618866e-02 -6.02456050e-05 9.99933157e-01 -1.59977993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:70.54, Y:-10.52, Z:-1.60 [[ 9.75067874e-01 2.21639237e-01 1.08945112e-02 7.05378108e+01] [-2.21625967e-01 9.75128733e-01 -2.42575182e-03 -1.05209197e+01] [-1.11611927e-02 -4.92339226e-05 9.99937711e-01 -1.59574667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:70.57, Y:-10.53, Z:-1.60 [[ 9.75315122e-01 2.20550787e-01 1.08519092e-02 7.05661189e+01] [-2.20537563e-01 9.75375491e-01 -2.41550730e-03 -1.05268512e+01] [-1.11174283e-02 -3.73728128e-05 9.99938199e-01 -1.59501792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:-10.53, Z:-1.60 [[ 9.75889547e-01 2.17925533e-01 1.21677761e-02 7.05937566e+01] [-2.17908710e-01 9.75965400e-01 -2.70777116e-03 -1.05311170e+01] [-1.24654209e-02 -8.97881434e-06 9.99922304e-01 -1.60101289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.62, Y:-10.54, Z:-1.60 [[ 9.75897142e-01 2.17891508e-01 1.21679707e-02 7.06224027e+01] [-2.17874693e-01 9.75972997e-01 -2.70689622e-03 -1.05374030e+01] [-1.24654205e-02 -9.44059888e-06 9.99922304e-01 -1.60157877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:-10.54, Z:-1.60 [[ 9.76169282e-01 2.16654513e-01 1.24239657e-02 7.06503302e+01] [-2.16636889e-01 9.76248340e-01 -2.76345460e-03 -1.05430263e+01] [-1.27275908e-02 6.11021237e-06 9.99919001e-01 -1.60176063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:-10.55, Z:-1.60 [[ 9.76433229e-01 2.15453154e-01 1.25732884e-02 7.06771803e+01] [-2.15435011e-01 9.76514177e-01 -2.79611858e-03 -1.05488563e+01] [-1.28804269e-02 2.14965736e-05 9.99917044e-01 -1.60234059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:-10.55, Z:-1.60 [[ 9.76777794e-01 2.13869850e-01 1.28385739e-02 7.07043512e+01] [-2.13850807e-01 9.76862163e-01 -2.85432414e-03 -1.05540236e+01] [-1.31519709e-02 4.25010537e-05 9.99913508e-01 -1.60253148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:70.73, Y:-10.56, Z:-1.60 [[ 9.76856119e-01 2.13520949e-01 1.26856995e-02 7.07322929e+01] [-2.13502339e-01 9.76938484e-01 -2.81945737e-03 -1.05599469e+01] [-1.29951613e-02 4.57776692e-05 9.99915558e-01 -1.59714156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.76, Y:-10.57, Z:-1.60 [[ 9.76878826e-01 2.13387680e-01 1.31703311e-02 7.07596161e+01] [-2.13367616e-01 9.76967602e-01 -2.92656345e-03 -1.05662777e+01] [-1.34914794e-02 4.87757188e-05 9.99908985e-01 -1.60374154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:70.79, Y:-10.57, Z:-1.60 [[ 9.76882536e-01 2.13377690e-01 1.30565163e-02 7.07883091e+01] [-2.13357983e-01 9.76969784e-01 -2.90028671e-03 -1.05731435e+01] [-1.33746784e-02 4.75274522e-05 9.99910554e-01 -1.60111835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.82, Y:-10.58, Z:-1.60 [[ 9.76734563e-01 2.14071104e-01 1.27732451e-02 7.08165178e+01] [-2.14052306e-01 9.76818080e-01 -2.83713063e-03 -1.05794499e+01] [-1.30844844e-02 3.69809812e-05 9.99914394e-01 -1.60462840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.84, Y:-10.59, Z:-1.61 [[ 9.76690555e-01 2.14300640e-01 1.22798528e-02 7.08436367e+01] [-2.14283288e-01 9.76767748e-01 -2.72726777e-03 -1.05850376e+01] [-1.25790194e-02 3.23294286e-05 9.99920880e-01 -1.60597610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.87, Y:-10.59, Z:-1.61 [[ 9.76653293e-01 2.14492272e-01 1.18916119e-02 7.08720272e+01] [-2.14476023e-01 9.76725685e-01 -2.64027191e-03 -1.05911818e+01] [-1.21811607e-02 2.81646269e-05 9.99925807e-01 -1.60689874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:-10.60, Z:-1.61 [[ 9.76593040e-01 2.14790024e-01 1.14577620e-02 7.08995177e+01] [-2.14774965e-01 9.76660250e-01 -2.54352201e-03 -1.05978791e+01] [-1.17366638e-02 2.31454655e-05 9.99931123e-01 -1.60818792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.93, Y:-10.60, Z:-1.61 [[ 9.76630987e-01 2.14639425e-01 1.10377924e-02 7.09271284e+01] [-2.14625448e-01 9.76693359e-01 -2.44959664e-03 -1.06043641e+01] [-1.13063186e-02 2.33608495e-05 9.99936081e-01 -1.60855921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.95, Y:-10.61, Z:-1.61 [[ 9.76710079e-01 2.14267439e-01 1.12643555e-02 7.09543449e+01] [-2.14252862e-01 9.76775032e-01 -2.49942108e-03 -1.06108126e+01] [-1.15382857e-02 2.77893629e-05 9.99933431e-01 -1.60952341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.98, Y:-10.62, Z:-1.61 [[ 9.76801522e-01 2.13841237e-01 1.14329536e-02 7.09826548e+01] [-2.13826201e-01 9.76868427e-01 -2.53606569e-03 -1.06178755e+01] [-1.17108068e-02 3.25677885e-05 9.99931426e-01 -1.60980221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:-10.63, Z:-1.61 [[ 9.76921545e-01 2.13245310e-01 1.22773594e-02 7.10108859e+01] [-2.13227931e-01 9.76998688e-01 -2.72273662e-03 -1.06254682e+01] [-1.25755748e-02 4.20241205e-05 9.99920923e-01 -1.61013359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.04, Y:-10.63, Z:-1.61 [[ 9.77117031e-01 2.12309329e-01 1.29250316e-02 7.10386560e+01] [-2.12289994e-01 9.77202510e-01 -2.86572845e-03 -1.06341394e+01] [-1.32387942e-02 5.62971964e-05 9.99912362e-01 -1.61021795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:71.07, Y:-10.64, Z:-1.60 [[ 9.77072109e-01 2.12532239e-01 1.26547302e-02 7.10663363e+01] [-2.12513730e-01 9.77154054e-01 -2.80529685e-03 -1.06406357e+01] [-1.29618370e-02 5.16733798e-05 9.99915991e-01 -1.60385660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.09, Y:-10.65, Z:-1.61 [[ 9.76702643e-01 2.14208274e-01 1.29136275e-02 7.10939445e+01] [-2.14189157e-01 9.76788009e-01 -2.86190820e-03 -1.06462506e+01] [-1.32269209e-02 2.92743231e-05 9.99912520e-01 -1.61119060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:-10.65, Z:-1.61 [[ 9.76433702e-01 2.15463637e-01 1.23550084e-02 7.11223190e+01] [-2.15446248e-01 9.76511864e-01 -2.73738576e-03 -1.06525320e+01] [-1.26546194e-02 1.10355002e-05 9.99919927e-01 -1.61195020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.15, Y:-10.66, Z:-1.61 [[ 9.76107014e-01 2.16953094e-01 1.21017500e-02 7.11507607e+01] [-2.16936532e-01 9.76182030e-01 -2.68074600e-03 -1.06585929e+01] [-1.23951070e-02 -8.61670349e-06 9.99923178e-01 -1.61250395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.18, Y:-10.66, Z:-1.61 [[ 9.75777940e-01 2.18431506e-01 1.20452952e-02 7.11787704e+01] [-2.18415217e-01 9.75852282e-01 -2.66770331e-03 -1.06644198e+01] [-1.23371393e-02 -2.77897283e-05 9.99923894e-01 -1.60886327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:-10.67, Z:-1.61 [[ 9.75309380e-01 2.20482729e-01 1.26086980e-02 7.12070656e+01] [-2.20465059e-01 9.75390877e-01 -2.79189878e-03 -1.06702685e+01] [-1.29139744e-02 -5.68122713e-05 9.99916610e-01 -1.61389335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.24, Y:-10.68, Z:-1.61 [[ 9.75199281e-01 2.20968161e-01 1.26267534e-02 7.12364793e+01] [-2.20950491e-01 9.75281020e-01 -2.79514143e-03 -1.06769434e+01] [-1.29322702e-02 -6.40674462e-05 9.99916373e-01 -1.61419113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.26, Y:-10.68, Z:-1.61 [[ 9.75156206e-01 2.21161861e-01 1.25620189e-02 7.12648666e+01] [-2.21144391e-01 9.75237113e-01 -2.78057552e-03 -1.06830930e+01] [-1.28659043e-02 -6.65245426e-05 9.99917229e-01 -1.61461189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:-10.69, Z:-1.62 [[ 9.75140429e-01 2.21225293e-01 1.26693588e-02 7.12941299e+01] [-2.21207535e-01 9.75222726e-01 -2.80377644e-03 -1.06886181e+01] [-1.29757129e-02 -6.84818679e-05 9.99915810e-01 -1.61535887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.32, Y:-10.69, Z:-1.62 [[ 9.75121552e-01 2.21321205e-01 1.24452042e-02 7.13221068e+01] [-2.21304082e-01 9.75200964e-01 -2.75388975e-03 -1.06946228e+01] [-1.27460693e-02 -6.87972293e-05 9.99918763e-01 -1.61594110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.35, Y:-10.70, Z:-1.62 [[ 9.75087476e-01 2.21481809e-01 1.22564803e-02 7.13497630e+01] [-2.21465218e-01 9.75164501e-01 -2.71181171e-03 -1.07004052e+01] [-1.25527015e-02 -7.01304512e-05 9.99921209e-01 -1.61632996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:-10.71, Z:-1.62 [[ 9.74961508e-01 2.22011100e-01 1.26936626e-02 7.13781423e+01] [-2.21993355e-01 9.75044135e-01 -2.80811077e-03 -1.07058913e+01] [-1.30003130e-02 -8.01088229e-05 9.99915489e-01 -1.61645979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.41, Y:-10.71, Z:-1.62 [[ 9.74851387e-01 2.22452813e-01 1.33985071e-02 7.14063146e+01] [-2.22433094e-01 9.74943453e-01 -2.96334109e-03 -1.07114767e+01] [-1.37219903e-02 -9.14542094e-05 9.99905845e-01 -1.61686382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.43, Y:-10.72, Z:-1.62 [[ 9.74799431e-01 2.22656833e-01 1.37841809e-02 7.14349915e+01] [-2.22635994e-01 9.74896879e-01 -3.04779727e-03 -1.07173917e+01] [-1.41167679e-02 -9.78637722e-05 9.99900349e-01 -1.61745473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:-10.72, Z:-1.62 [[ 9.74835463e-01 2.22500996e-01 1.37523683e-02 7.14627172e+01] [-2.22480242e-01 9.74932458e-01 -3.04046800e-03 -1.07231045e+01] [-1.40841374e-02 -9.56741994e-05 9.99900809e-01 -1.61813801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.49, Y:-10.73, Z:-1.62 [[ 9.75042405e-01 2.21594632e-01 1.37159871e-02 7.14908405e+01] [-2.21573905e-01 9.75138868e-01 -3.03187573e-03 -1.07283121e+01] [-1.40468395e-02 -8.28974084e-05 9.99901335e-01 -1.61844857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.52, Y:-10.73, Z:-1.62 [[ 9.75266131e-01 2.20583202e-01 1.41076068e-02 7.15194890e+01] [-2.20561176e-01 9.75368159e-01 -3.11796185e-03 -1.07339862e+01] [-1.44478805e-02 -7.07477619e-05 9.99895621e-01 -1.61959601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.55, Y:-10.74, Z:-1.62 [[ 9.75836014e-01 2.18086732e-01 1.35000169e-02 7.15470148e+01] [-2.18066333e-01 9.75929391e-01 -2.98296795e-03 -1.07408799e+01] [-1.38256090e-02 -3.30116222e-05 9.99904421e-01 -1.62070595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.58, Y:-10.75, Z:-1.62 [[ 9.76055821e-01 2.17135052e-01 1.29384133e-02 7.15760132e+01] [-2.17116239e-01 9.76141572e-01 -2.85834826e-03 -1.07476898e+01] [-1.32503707e-02 -1.92321667e-05 9.99912210e-01 -1.62081747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.60, Y:-10.75, Z:-1.62 [[ 9.76235990e-01 2.16349698e-01 1.24939835e-02 7.16036242e+01] [-2.16332093e-01 9.76315937e-01 -2.75993829e-03 -1.07537878e+01] [-1.27951870e-02 -8.49851073e-06 9.99918138e-01 -1.62192907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.63, Y:-10.76, Z:-1.62 [[ 9.76382555e-01 2.15725293e-01 1.18196276e-02 7.16313591e+01] [-2.15709497e-01 9.76454094e-01 -2.61054827e-03 -1.07602998e+01] [-1.21044850e-02 -7.12130060e-07 9.99926738e-01 -1.62295109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:-10.77, Z:-1.62 [[ 9.76415474e-01 2.15579080e-01 1.17678302e-02 7.16596156e+01] [-2.15563417e-01 9.76486385e-01 -2.59866808e-03 -1.07668137e+01] [-1.20513444e-02 6.66036711e-07 9.99927380e-01 -1.62381307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.69, Y:-10.77, Z:-1.62 [[ 9.76411044e-01 2.15599036e-01 1.17698401e-02 7.16877242e+01] [-2.15583373e-01 9.76481979e-01 -2.59876388e-03 -1.07732133e+01] [-1.20533277e-02 7.99135231e-08 9.99927356e-01 -1.62437378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:71.72, Y:-10.78, Z:-1.63 [[ 9.76476526e-01 2.15300180e-01 1.18079107e-02 7.17165685e+01] [-2.15284403e-01 9.76547916e-01 -2.60640997e-03 -1.07795494e+01] [-1.20921512e-02 3.03914759e-06 9.99926887e-01 -1.62507790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.75, Y:-10.79, Z:-1.62 [[ 9.76722757e-01 2.14139433e-01 1.25283659e-02 7.17454494e+01] [-2.14121581e-01 9.76803103e-01 -2.76509202e-03 -1.07867369e+01] [-1.28298619e-02 1.81347919e-05 9.99917694e-01 -1.62204196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.398623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:71.77, Y:-10.79, Z:-1.62 [[ 9.76960213e-01 2.13055020e-01 1.25020402e-02 7.17736739e+01] [-2.13037157e-01 9.77040202e-01 -2.75904311e-03 -1.07936894e+01] [-1.28028239e-02 3.20762367e-05 9.99918040e-01 -1.61897149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:71.80, Y:-10.80, Z:-1.62 [[ 9.77179061e-01 2.12047927e-01 1.25203398e-02 7.18025430e+01] [-2.12029936e-01 9.77259267e-01 -2.76252144e-03 -1.08003680e+01] [-1.28214050e-02 4.47912614e-05 9.99917801e-01 -1.62075880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.83, Y:-10.81, Z:-1.63 [[ 9.77387819e-01 2.11068417e-01 1.27740197e-02 7.18309656e+01] [-2.11049610e-01 9.77471289e-01 -2.81815878e-03 -1.08071143e+01] [-1.30810618e-02 5.84821880e-05 9.99914438e-01 -1.62702807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:-10.82, Z:-1.63 [[ 9.77886644e-01 2.08761872e-01 1.24976586e-02 7.18594922e+01] [-2.08743687e-01 9.77966499e-01 -2.75680086e-03 -1.08155903e+01] [-1.27978063e-02 8.70314135e-05 9.99918101e-01 -1.62763458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.89, Y:-10.82, Z:-1.63 [[ 9.78133241e-01 2.07604094e-01 1.24861438e-02 7.18892967e+01] [-2.07585851e-01 9.78212927e-01 -2.75402291e-03 -1.08239008e+01] [-1.27858537e-02 1.01854576e-04 9.99918252e-01 -1.62784834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:-10.83, Z:-1.63 [[ 9.78353346e-01 2.06513527e-01 1.33001155e-02 7.19188048e+01] [-2.06492728e-01 9.78443738e-01 -2.93348887e-03 -1.08329081e+01] [-1.36192199e-02 1.23611509e-04 9.99907246e-01 -1.62825618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.95, Y:-10.84, Z:-1.63 [[ 9.78366239e-01 2.06420474e-01 1.37873085e-02 7.19477512e+01] [-2.06398112e-01 9.78463372e-01 -3.04112483e-03 -1.08406034e+01] [-1.41181268e-02 1.29659422e-04 9.99900326e-01 -1.62878584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.98, Y:-10.85, Z:-1.63 [[ 9.78375495e-01 2.06351124e-01 1.41634656e-02 7.19780648e+01] [-2.06327516e-01 9.78478000e-01 -3.12421922e-03 -1.08485628e+01] [-1.45033256e-02 1.34346857e-04 9.99894812e-01 -1.62968632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:-10.86, Z:-1.63 [[ 9.78278711e-01 2.06776472e-01 1.46374029e-02 7.20073090e+01] [-2.06751299e-01 9.78388202e-01 -3.22918984e-03 -1.08574411e+01] [-1.49887828e-02 1.32745615e-04 9.99887653e-01 -1.62991641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.04, Y:-10.87, Z:-1.63 [[ 9.78138989e-01 2.07419055e-01 1.48813046e-02 7.20370343e+01] [-2.07393107e-01 9.78252176e-01 -3.28318420e-03 -1.08651884e+01] [-1.52386636e-02 1.25130472e-04 9.99883877e-01 -1.63102937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.07, Y:-10.87, Z:-1.63 [[ 9.78001839e-01 2.08090439e-01 1.45179675e-02 7.20670593e+01] [-2.08065815e-01 9.78109583e-01 -3.20314097e-03 -1.08732948e+01] [-1.48667062e-02 1.11985008e-04 9.99889478e-01 -1.63152635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:-10.88, Z:-1.63 [[ 9.77604008e-01 2.09993363e-01 1.38993270e-02 7.20966082e+01] [-2.09970980e-01 9.77702808e-01 -3.06702827e-03 -1.08821120e+01] [-1.42334666e-02 7.98838253e-05 9.99898696e-01 -1.63291966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.758623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:72.13, Y:-10.89, Z:-1.63 [[ 9.77281268e-01 2.11529461e-01 1.32894657e-02 7.21266925e+01] [-2.11509138e-01 9.77371620e-01 -2.93267429e-03 -1.08893427e+01] [-1.36090937e-02 5.52042010e-05 9.99907390e-01 -1.62784609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.16, Y:-10.90, Z:-1.63 [[ 9.76875713e-01 2.13403044e-01 1.31523016e-02 7.21551753e+01] [-2.13383307e-01 9.76964247e-01 -2.90247358e-03 -1.08960942e+01] [-1.34687251e-02 2.88743338e-05 9.99909292e-01 -1.63448496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.818623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:72.18, Y:-10.90, Z:-1.63 [[ 9.76468513e-01 2.15299165e-01 1.24705147e-02 7.21836806e+01] [-2.15281576e-01 9.76548140e-01 -2.75195316e-03 -1.09032090e+01] [-1.27705512e-02 2.52354385e-06 9.99918453e-01 -1.62968624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:-10.91, Z:-1.64 [[ 9.75373290e-01 2.20188959e-01 1.27971852e-02 7.22113041e+01] [-2.20170861e-01 9.75457236e-01 -2.82374496e-03 -1.09096956e+01] [-1.31048644e-02 -6.33618866e-05 9.99914126e-01 -1.63551543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.24, Y:-10.92, Z:-1.64 [[ 9.74766099e-01 2.22864228e-01 1.27509634e-02 7.22397431e+01] [-2.22846493e-01 9.74849489e-01 -2.81332372e-03 -1.09156965e+01] [-1.30572594e-02 -9.91748901e-05 9.99914745e-01 -1.63618344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:-10.92, Z:-1.64 [[ 9.74080149e-01 2.25838480e-01 1.28391628e-02 7.22690515e+01] [-2.25820766e-01 9.74164751e-01 -2.83203901e-03 -1.09221849e+01] [-1.31470432e-02 -1.40716593e-04 9.99913564e-01 -1.63680496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:-10.93, Z:-1.64 [[ 9.72794337e-01 2.31301527e-01 1.30683595e-02 7.22986328e+01] [-2.31283672e-01 9.72882087e-01 -2.88226969e-03 -1.09261767e+01] [-1.33806462e-02 -2.18642523e-04 9.99910451e-01 -1.63731035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.33, Y:-10.93, Z:-1.63 [[ 9.72214899e-01 2.33751146e-01 1.25933216e-02 7.23270600e+01] [-2.33734774e-01 9.72296427e-01 -2.77727581e-03 -1.09300976e+01] [-1.28936330e-02 -2.43388266e-04 9.99916844e-01 -1.63188682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:-10.93, Z:-1.64 [[ 9.71707823e-01 2.35849599e-01 1.26045355e-02 7.23563341e+01] [-2.35833380e-01 9.71789531e-01 -2.77920231e-03 -1.09340646e+01] [-1.29044294e-02 -2.71997602e-04 9.99916697e-01 -1.63908689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:-10.94, Z:-1.64 [[ 9.71045235e-01 2.38566106e-01 1.25444732e-02 7.23846664e+01] [-2.38550269e-01 9.71126212e-01 -2.76587875e-03 -1.09370527e+01] [-1.28421117e-02 -3.06694087e-04 9.99917490e-01 -1.64033436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.41, Y:-10.94, Z:-1.64 [[ 9.70930517e-01 2.39029659e-01 1.25997474e-02 7.24121466e+01] [-2.39013731e-01 9.71012216e-01 -2.77726100e-03 -1.09415170e+01] [-1.28983564e-02 -3.14985171e-04 9.99916763e-01 -1.64112308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.44, Y:-10.95, Z:-1.64 [[ 9.70938993e-01 2.38995216e-01 1.25999453e-02 7.24408053e+01] [-2.38979298e-01 9.71020693e-01 -2.77636284e-03 -1.09477478e+01] [-1.28983450e-02 -3.15447131e-04 9.99916763e-01 -1.64168895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:-10.95, Z:-1.64 [[ 9.71058616e-01 2.38459121e-01 1.35059937e-02 7.24695366e+01] [-2.38440785e-01 9.71152479e-01 -2.97552193e-03 -1.09505460e+01] [-1.38259196e-02 -3.30973527e-04 9.99904363e-01 -1.64150347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.50, Y:-10.95, Z:-1.64 [[ 9.71285773e-01 2.37478639e-01 1.44167999e-02 7.24980523e+01] [-2.37457651e-01 9.71392702e-01 -3.17540414e-03 -1.09546571e+01] [-1.47584648e-02 -3.39154563e-04 9.99891030e-01 -1.64198608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.53, Y:-10.96, Z:-1.64 [[ 9.71629542e-01 2.36042686e-01 1.48284324e-02 7.25261954e+01] [-2.36020326e-01 9.71742632e-01 -3.26536701e-03 -1.09584094e+01] [-1.51801859e-02 -3.27084384e-04 9.99884721e-01 -1.64187471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.55, Y:-10.96, Z:-1.64 [[ 9.72034716e-01 2.34374765e-01 1.47302763e-02 7.25545126e+01] [-2.34352523e-01 9.72146275e-01 -3.24274536e-03 -1.09626812e+01] [-1.50800009e-02 -3.00016350e-04 9.99886245e-01 -1.64269592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.58, Y:-10.97, Z:-1.64 [[ 9.73129184e-01 2.29833550e-01 1.40046482e-02 7.25821895e+01] [-2.29812983e-01 9.73229927e-01 -3.08246612e-03 -1.09652956e+01] [-1.43381969e-02 -2.18812234e-04 9.99897179e-01 -1.64397250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.61, Y:-10.97, Z:-1.64 [[ 9.73760537e-01 2.27158453e-01 1.37641857e-02 7.26102089e+01] [-2.27138334e-01 9.73857795e-01 -3.02849981e-03 -1.09707707e+01] [-1.40923089e-02 -1.77340607e-04 9.99900683e-01 -1.64487411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:72.64, Y:-10.98, Z:-1.64 [[ 9.74469514e-01 2.24127792e-01 1.32627232e-02 7.26370948e+01] [-2.24108838e-01 9.74559755e-01 -2.91761689e-03 -1.09762601e+01] [-1.35792353e-02 -1.29164778e-04 9.99907790e-01 -1.64262380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:-10.98, Z:-1.65 [[ 9.75203175e-01 2.20922759e-01 1.31111707e-02 7.26654166e+01] [-2.20903958e-01 9.75291304e-01 -2.88343312e-03 -1.09816590e+01] [-1.34242268e-02 -8.43763589e-05 9.99909887e-01 -1.64632099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:-10.99, Z:-1.65 [[ 9.76608355e-01 2.14657072e-01 1.25881977e-02 7.26939863e+01] [-2.14639229e-01 9.76689481e-01 -2.76769540e-03 -1.09857937e+01] [-1.28888657e-02 1.03340457e-06 9.99916935e-01 -1.64751330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:-10.99, Z:-1.65 [[ 9.77305326e-01 2.11465615e-01 1.25137024e-02 7.27222516e+01] [-2.11447724e-01 9.77385437e-01 -2.75109344e-03 -1.09906682e+01] [-1.28124722e-02 4.26643718e-05 9.99917916e-01 -1.64811495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.75, Y:-11.00, Z:-1.65 [[ 9.78490109e-01 2.05871631e-01 1.31901035e-02 7.27521734e+01] [-2.05851257e-01 9.78578999e-01 -2.89882751e-03 -1.09962136e+01] [-1.35043446e-02 1.21274669e-04 9.99908805e-01 -1.64853203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.78, Y:-11.00, Z:-1.65 [[ 9.79046154e-01 2.03180518e-01 1.36493699e-02 7.27810726e+01] [-2.03158438e-01 9.79141282e-01 -2.99982923e-03 -1.10020795e+01] [-1.39741684e-02 1.63986600e-04 9.99902343e-01 -1.64873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:-11.01, Z:-1.65 [[ 9.79527916e-01 2.00837346e-01 1.37631054e-02 7.28096554e+01] [-2.00814668e-01 9.79624582e-01 -3.02464370e-03 -1.10083045e+01] [-1.40901378e-02 1.98889507e-04 9.99900709e-01 -1.64881399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.84, Y:-11.01, Z:-1.65 [[ 9.79970842e-01 1.98639158e-01 1.41291745e-02 7.28394142e+01] [-1.98615032e-01 9.80072665e-01 -3.10484752e-03 -1.10149254e+01] [-1.44643620e-02 2.36393609e-04 9.99895358e-01 -1.64957199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:-11.02, Z:-1.65 [[ 9.80638928e-01 1.95350409e-01 1.36202076e-02 7.28692808e+01] [-1.95327674e-01 9.80733472e-01 -2.99293757e-03 -1.10209924e+01] [-1.39424651e-02 2.74587616e-04 9.99902761e-01 -1.65041038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:72.90, Y:-11.03, Z:-1.64 [[ 9.80901732e-01 1.94085824e-01 1.27469326e-02 7.28989791e+01] [-1.94065799e-01 9.80984514e-01 -2.80141253e-03 -1.10266409e+01] [-1.30482579e-02 2.74166742e-04 9.99914830e-01 -1.64386447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.93, Y:-11.03, Z:-1.65 [[ 9.81085566e-01 1.93125644e-01 1.31756244e-02 7.29290451e+01] [-1.93104169e-01 9.81173990e-01 -2.89515356e-03 -1.10327907e+01] [-1.34867083e-02 2.96125371e-04 9.99909006e-01 -1.65172951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:-11.04, Z:-1.65 [[ 9.81265241e-01 1.92226435e-01 1.29430970e-02 7.29582439e+01] [-1.92205633e-01 9.81350552e-01 -2.84413304e-03 -1.10390571e+01] [-1.32484329e-02 3.03112752e-04 9.99912190e-01 -1.65223308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.99, Y:-11.05, Z:-1.65 [[ 9.81541504e-01 1.90858595e-01 1.22177531e-02 7.29877726e+01] [-1.90839955e-01 9.81617494e-01 -2.68452190e-03 -1.10471017e+01] [-1.25055243e-02 3.03334199e-04 9.99921757e-01 -1.65286878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.02, Y:-11.05, Z:-1.65 [[ 9.81640687e-01 1.90355056e-01 1.21043359e-02 7.30175308e+01] [-1.90336723e-01 9.81715263e-01 -2.65960152e-03 -1.10546679e+01] [-1.23892799e-02 3.06873436e-04 9.99923203e-01 -1.65365899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:-11.06, Z:-1.65 [[ 9.81810608e-01 1.89444271e-01 1.26015557e-02 7.30472430e+01] [-1.89424325e-01 9.81891419e-01 -2.76885217e-03 -1.10629697e+01] [-1.28979026e-02 3.31447244e-04 9.99916764e-01 -1.65367868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.08, Y:-11.07, Z:-1.65 [[ 9.81844761e-01 1.89225475e-01 1.32130755e-02 7.30767885e+01] [-1.89203528e-01 9.81933601e-01 -2.90314632e-03 -1.10705739e+01] [-1.35237121e-02 3.50478496e-04 9.99908489e-01 -1.65416077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.778623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:73.11, Y:-11.08, Z:-1.65 [[ 9.81820971e-01 1.89348923e-01 1.32123895e-02 7.31050714e+01] [-1.89326985e-01 9.81909804e-01 -2.90330201e-03 -1.10777706e+01] [-1.35231119e-02 3.49060943e-04 9.99908498e-01 -1.64687341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:-11.09, Z:-1.65 [[ 9.81641494e-01 1.90254048e-01 1.35415649e-02 7.31336734e+01] [-1.90231092e-01 9.81734831e-01 -2.97546123e-03 -1.10854793e+01] [-1.38603195e-02 3.44809541e-04 9.99903882e-01 -1.65491788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:-11.09, Z:-1.66 [[ 9.81469131e-01 1.91160593e-01 1.32655007e-02 7.31629941e+01] [-1.91138649e-01 9.81558721e-01 -2.91457999e-03 -1.10935233e+01] [-1.35780208e-02 3.25020408e-04 9.99907762e-01 -1.65534845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.19, Y:-11.10, Z:-1.66 [[ 9.81244265e-01 1.92304274e-01 1.33700626e-02 7.31931946e+01] [-1.92282091e-01 9.81335299e-01 -2.93741608e-03 -1.11019849e+01] [-1.36853921e-02 3.11499081e-04 9.99906302e-01 -1.65567311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:-11.11, Z:-1.66 [[ 9.80623465e-01 1.95439473e-01 1.34548106e-02 7.32212490e+01] [-1.95417296e-01 9.80715728e-01 -2.95651105e-03 -1.11099008e+01] [-1.37731633e-02 2.69921406e-04 9.99905109e-01 -1.65576914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.25, Y:-11.12, Z:-1.66 [[ 9.80344768e-01 1.96810491e-01 1.37755667e-02 7.32499541e+01] [-1.96787378e-01 9.80441515e-01 -3.02711300e-03 -1.11175709e+01] [-1.41019051e-02 2.56756746e-04 9.99900530e-01 -1.65647926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.958623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:73.28, Y:-11.13, Z:-1.65 [[ 9.80065168e-01 1.98198308e-01 1.37730599e-02 7.32794277e+01] [-1.98175346e-01 9.80161913e-01 -3.02611549e-03 -1.11257808e+01] [-1.40995997e-02 2.36309475e-04 9.99900568e-01 -1.64937371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:73.31, Y:-11.14, Z:-1.66 [[ 9.79581579e-01 2.00490423e-01 1.49505669e-02 7.33082117e+01] [-2.00463634e-01 9.79695637e-01 -3.28482867e-03 -1.11350832e+01] [-1.53055819e-02 2.20712688e-04 9.99882838e-01 -1.65712779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:73.34, Y:-11.14, Z:-1.66 [[ 9.79373938e-01 2.01504669e-01 1.49183777e-02 7.33386728e+01] [-2.01478114e-01 9.79487533e-01 -3.27765996e-03 -1.11428361e+01] [-1.52728288e-02 2.04328142e-04 9.99883343e-01 -1.65747398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:73.37, Y:-11.15, Z:-1.66 [[ 9.79168409e-01 2.02515306e-01 1.47233593e-02 7.33686677e+01] [-2.02489549e-01 9.79279080e-01 -3.23516815e-03 -1.11513300e+01] [-1.50734488e-02 1.86448062e-04 9.99886372e-01 -1.65832241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:73.40, Y:-11.16, Z:-1.66 [[ 9.78990631e-01 2.03407310e-01 1.42411248e-02 7.33988473e+01] [-2.03383303e-01 9.79094193e-01 -3.12954169e-03 -1.11605456e+01] [-1.45799743e-02 1.67384985e-04 9.99893693e-01 -1.65917776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10862385300001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:73.43, Y:-11.17, Z:-1.66 [[ 9.78640511e-01 2.05160014e-01 1.31194151e-02 7.34277853e+01] [-2.05139795e-01 9.78728436e-01 -2.88314175e-03 -1.11716439e+01] [-1.34318501e-02 1.30245183e-04 9.99909780e-01 -1.66028904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.138623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:73.46, Y:-11.18, Z:-1.66 [[ 9.78484046e-01 2.05943708e-01 1.24964771e-02 7.34578495e+01] [-2.05925417e-01 9.78563833e-01 -2.74711414e-03 -1.11800684e+01] [-1.27943514e-02 1.14665115e-04 9.99918142e-01 -1.66088938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:73.49, Y:-11.19, Z:-1.66 [[ 9.78332826e-01 2.06689418e-01 1.20152569e-02 7.34883109e+01] [-2.06672562e-01 9.78406600e-01 -2.64160150e-03 -1.11888996e+01] [-1.23017977e-02 1.01141540e-04 9.99924325e-01 -1.66206827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.198623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:73.52, Y:-11.20, Z:-1.66 [[ 9.78160806e-01 2.07506177e-01 1.19424988e-02 7.35188573e+01] [-2.07489581e-01 9.78233703e-01 -2.62589567e-03 -1.11977638e+01] [-1.22274444e-02 9.06041505e-05 9.99925238e-01 -1.66277403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:73.55, Y:-11.21, Z:-1.66 [[ 9.77651634e-01 2.09904503e-01 1.17209792e-02 7.35476093e+01] [-2.09888685e-01 9.77721891e-01 -2.57755264e-03 -1.12065808e+01] [-1.20008978e-02 5.98476397e-05 9.99927985e-01 -1.66272993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.258623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:73.58, Y:-11.21, Z:-1.66 [[ 9.77365396e-01 2.11220020e-01 1.19576756e-02 7.35765989e+01] [-2.11203653e-01 9.77438541e-01 -2.62974481e-03 -1.12136621e+01] [-1.22433477e-02 4.47168122e-05 9.99925046e-01 -1.66362099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288623853 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:73.61, Y:-11.22, Z:-1.66 [[ 9.76691222e-01 2.14272504e-01 1.27102937e-02 7.36052339e+01] [-2.14254266e-01 9.76773922e-01 -2.79560286e-03 -1.12218728e+01] [-1.30141043e-02 7.20611401e-06 9.99915313e-01 -1.66322319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.318623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:73.64, Y:-11.23, Z:-1.66 [[ 9.76282063e-01 2.16111382e-01 1.30078863e-02 7.36355680e+01] [-2.16092448e-01 9.76368716e-01 -2.86068700e-03 -1.12296714e+01] [-1.33187203e-02 -1.80685963e-05 9.99911302e-01 -1.66372831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:73.67, Y:-11.24, Z:-1.66 [[ 9.75921075e-01 2.17741632e-01 1.29087721e-02 7.36655818e+01] [-2.17723124e-01 9.76006445e-01 -2.83919761e-03 -1.12369808e+01] [-1.32172563e-02 -3.97054017e-05 9.99912647e-01 -1.66402106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37862385300001 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:73.69, Y:-11.24, Z:-1.66 [[ 9.75255653e-01 2.20688166e-01 1.31584276e-02 7.36947052e+01] [-2.20669198e-01 9.75344415e-01 -2.89451065e-03 -1.12441280e+01] [-1.34727831e-02 -8.07717839e-05 9.99909235e-01 -1.66438920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40862385300001 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:73.73, Y:-11.25, Z:-1.66 [[ 9.75025477e-01 2.21719800e-01 1.28704631e-02 7.37250820e+01] [-2.21701742e-01 9.75110415e-01 -2.83123967e-03 -1.12512900e+01] [-1.31778645e-02 -9.28732685e-05 9.99913164e-01 -1.66482196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43862385300001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:73.76, Y:-11.26, Z:-1.67 [[ 9.74643452e-01 2.23424399e-01 1.23158462e-02 7.37560187e+01] [-2.23407996e-01 9.74721255e-01 -2.70952717e-03 -1.12585934e+01] [-1.26098916e-02 -1.10635615e-04 9.99920486e-01 -1.66583479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46862385300001 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:73.79, Y:-11.27, Z:-1.67 [[ 9.74559976e-01 2.23800579e-01 1.20894325e-02 7.37866830e+01] [-2.23784799e-01 9.74634951e-01 -2.66001003e-03 -1.12650678e+01] [-1.23780952e-02 -1.13091907e-04 9.99923382e-01 -1.66616294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49862385300001 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:73.82, Y:-11.27, Z:-1.67 [[ 9.74558445e-01 2.23808938e-01 1.20580188e-02 7.38165348e+01] [-2.23793240e-01 9.74633032e-01 -2.65317454e-03 -1.12711592e+01] [-1.23459476e-02 -1.12829442e-04 9.99923780e-01 -1.66688573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:73.85, Y:-11.28, Z:-1.67 [[ 9.74621981e-01 2.23535980e-01 1.19857876e-02 7.38472244e+01] [-2.23520437e-01 9.74695673e-01 -2.63820126e-03 -1.12778160e+01] [-1.22722282e-02 -1.07819545e-04 9.99924688e-01 -1.66740333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.558623853 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:73.88, Y:-11.28, Z:-1.67 [[ 9.74789383e-01 2.22791571e-01 1.22301093e-02 7.38772078e+01] [-2.22775324e-01 9.74866096e-01 -2.69237355e-03 -1.12845760e+01] [-1.25225571e-02 -1.00069416e-04 9.99921585e-01 -1.66821589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:73.91, Y:-11.29, Z:-1.67 [[ 9.75174000e-01 2.21114394e-01 1.20038946e-02 7.39082880e+01] [-2.21098628e-01 9.75247875e-01 -2.64160165e-03 -1.12915307e+01] [-1.22908689e-02 -7.80233803e-05 9.99924461e-01 -1.66900285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.618623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:73.94, Y:-11.30, Z:-1.67 [[ 9.75352161e-01 2.20321796e-01 1.21024188e-02 7.39382873e+01] [-2.20305677e-01 9.75427241e-01 -2.66594132e-03 -1.12985717e+01] [-1.23923940e-02 -6.59999354e-05 9.99923209e-01 -1.66988696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:73.97, Y:-11.31, Z:-1.67 [[ 9.75529385e-01 2.19562063e-01 1.16155177e-02 7.39701312e+01] [-2.19547157e-01 9.75598533e-01 -2.55901197e-03 -1.13065441e+01] [-1.18939440e-02 -5.37625058e-05 9.99929263e-01 -1.66724250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.678623853 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:74.00, Y:-11.31, Z:-1.67 [[ 9.75939454e-01 2.17731657e-01 1.16235841e-02 7.40008696e+01] [-2.17716571e-01 9.76008670e-01 -2.56327247e-03 -1.13147586e+01] [-1.19028244e-02 -2.90481376e-05 9.99929158e-01 -1.67096330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:74.03, Y:-11.32, Z:-1.67 [[ 9.76110165e-01 2.16938664e-01 1.21062815e-02 7.40315327e+01] [-2.16922204e-01 9.76185236e-01 -2.67238336e-03 -1.13215223e+01] [-1.23977165e-02 -1.75806897e-05 9.99923145e-01 -1.67129010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.738623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:74.06, Y:-11.33, Z:-1.67 [[ 9.76486937e-01 2.15238571e-01 1.20672473e-02 7.40615083e+01] [-2.15222063e-01 9.76561497e-01 -2.66576759e-03 -1.13281564e+01] [-1.23581851e-02 5.94937936e-06 9.99923635e-01 -1.67173641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76862385300001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:74.09, Y:-11.34, Z:-1.67 [[ 9.76601106e-01 2.14721752e-01 1.20353333e-02 7.40917886e+01] [-2.14705256e-01 9.76675263e-01 -2.66157797e-03 -1.13357792e+01] [-1.23261110e-02 1.52506698e-05 9.99924030e-01 -1.67206701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79862385300001 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:74.12, Y:-11.34, Z:-1.67 [[ 9.76674863e-01 2.14378062e-01 1.21761443e-02 7.41231486e+01] [-2.14361160e-01 9.76750760e-01 -2.69200580e-03 -1.13430739e+01] [-1.24701652e-02 1.91219898e-05 9.99922244e-01 -1.67262262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82862385300001 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:74.15, Y:-11.35, Z:-1.67 [[ 9.76812101e-01 2.13737610e-01 1.24238838e-02 7.41542576e+01] [-2.13719934e-01 9.76891106e-01 -2.74896663e-03 -1.13506834e+01] [-1.27243391e-02 2.99922480e-05 9.99919042e-01 -1.67262061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85862385300001 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:74.18, Y:-11.36, Z:-1.67 [[ 9.76934881e-01 2.13159157e-01 1.27048283e-02 7.41848984e+01] [-2.13140589e-01 9.77017488e-01 -2.81377234e-03 -1.13583261e+01] [-1.30126208e-02 4.09577531e-05 9.99915331e-01 -1.67334847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888623853 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:74.21, Y:-11.37, Z:-1.67 [[ 9.77116172e-01 2.12297738e-01 1.31778614e-02 7.42147061e+01] [-2.12277653e-01 9.77205028e-01 -2.92078133e-03 -1.13657775e+01] [-1.34975477e-02 5.65771920e-05 9.99908902e-01 -1.67365935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.918623853 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:74.25, Y:-11.37, Z:-1.67 [[ 9.77329015e-01 2.11299542e-01 1.34350283e-02 7.42469904e+01] [-2.11278544e-01 9.77421351e-01 -2.97968011e-03 -1.13736962e+01] [-1.37612885e-02 7.35946179e-05 9.99905306e-01 -1.67377133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:74.28, Y:-11.38, Z:-1.68 [[ 9.77985527e-01 2.08246195e-01 1.33353179e-02 7.42776028e+01] [-2.08225185e-01 9.78076433e-01 -2.96040786e-03 -1.13830965e+01] [-1.36594539e-02 1.18486996e-04 9.99906698e-01 -1.67508240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.978623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:74.31, Y:-11.39, Z:-1.68 [[ 9.77956994e-01 2.08380190e-01 1.33347072e-02 7.43102605e+01] [-2.08359155e-01 9.78047894e-01 -2.96315583e-03 -1.13905164e+01] [-1.36594453e-02 1.19430651e-04 9.99906698e-01 -1.67572910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.008623853 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:74.34, Y:-11.40, Z:-1.67 [[ 9.78304286e-01 2.06796785e-01 1.24825537e-02 7.43412663e+01] [-2.06778202e-01 9.78383908e-01 -2.77551200e-03 -1.13994056e+01] [-1.27866966e-02 1.34175282e-04 9.99918238e-01 -1.66894030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.038623853 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:74.37, Y:-11.41, Z:-1.67 [[ 9.78644169e-01 2.05195508e-01 1.22635179e-02 7.43731046e+01] [-2.05177433e-01 9.78720992e-01 -2.72784588e-03 -1.14088176e+01] [-1.25623041e-02 1.53393338e-04 9.99921079e-01 -1.67081781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068623853 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:74.40, Y:-11.42, Z:-1.68 [[ 9.79240431e-01 2.02378720e-01 1.14468942e-02 7.44031203e+01] [-2.02362753e-01 9.79307317e-01 -2.54839102e-03 -1.14196850e+01] [-1.17257673e-02 1.79062499e-04 9.99931235e-01 -1.67831704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.098623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:74.43, Y:-11.43, Z:-1.68 [[ 9.79326899e-01 2.01991622e-01 1.08723955e-02 7.44342147e+01] [-2.01977172e-01 9.79387234e-01 -2.42242350e-03 -1.14288244e+01] [-1.11375946e-02 1.76368805e-04 9.99937960e-01 -1.67912365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12862385300001 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:74.47, Y:-11.44, Z:-1.68 [[ 9.79266527e-01 2.02285174e-01 1.08525449e-02 7.44658029e+01] [-2.02270774e-01 9.79326645e-01 -2.41989393e-03 -1.14380469e+01] [-1.11176951e-02 1.74568460e-04 9.99938181e-01 -1.67912654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15862385300001 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:74.50, Y:-11.45, Z:-1.67 [[ 9.78701559e-01 2.05011455e-01 1.06565568e-02 7.44973270e+01] [-2.04997709e-01 9.78759563e-01 -2.37828372e-03 -1.14477167e+01] [-1.09177823e-02 1.43060254e-04 9.99940389e-01 -1.67192857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18862385300001 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:74.53, Y:-11.46, Z:-1.68 [[ 9.78297819e-01 2.06896810e-01 1.12733096e-02 7.45297088e+01] [-2.06881524e-01 9.78362761e-01 -2.51843948e-03 -1.14556264e+01] [-1.15504434e-02 1.31544379e-04 9.99933283e-01 -1.67981753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21862385300001 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:74.56, Y:-11.46, Z:-1.68 [[ 9.77182179e-01 2.12104276e-01 1.12589815e-02 7.45604354e+01] [-2.12089346e-01 9.77247037e-01 -2.51762447e-03 -1.14649523e+01] [-1.15368052e-02 7.22677454e-05 9.99933446e-01 -1.68030924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24862385300001 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:74.59, Y:-11.47, Z:-1.68 [[ 9.76555192e-01 2.14983745e-01 1.10429577e-02 7.45918907e+01] [-2.14969543e-01 9.76617626e-01 -2.47136136e-03 -1.14729399e+01] [-1.13160497e-02 3.95211834e-05 9.99935971e-01 -1.68054603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.278623853 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:74.62, Y:-11.48, Z:-1.68 [[ 9.75937487e-01 2.17757510e-01 1.12998991e-02 7.46239848e+01] [-2.17742801e-01 9.76002903e-01 -2.53098844e-03 -1.14809963e+01] [-1.15798761e-02 9.61482180e-06 9.99932951e-01 -1.68143176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308623853 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:74.66, Y:-11.49, Z:-1.68 [[ 9.74760851e-01 2.22911417e-01 1.23200516e-02 7.46552183e+01] [-2.22894307e-01 9.74838703e-01 -2.76235207e-03 -1.14898551e+01] [-1.26258229e-02 -5.34367020e-05 9.99920290e-01 -1.68139619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.338623853 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:74.69, Y:-11.50, Z:-1.68 [[ 9.74249728e-01 2.25114516e-01 1.26854993e-02 7.46863174e+01] [-2.25096526e-01 9.74332309e-01 -2.84712050e-03 -1.14972771e+01] [-1.30008200e-02 -8.16554501e-05 9.99915482e-01 -1.68138008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.368623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:74.72, Y:-11.50, Z:-1.68 [[ 9.73767555e-01 2.27185723e-01 1.27826904e-02 7.47188981e+01] [-2.27167619e-01 9.73851444e-01 -2.87003356e-03 -1.15044520e+01] [-1.31004722e-02 -1.09067796e-04 9.99914179e-01 -1.68184266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.398623853 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:74.75, Y:-11.51, Z:-1.68 [[ 9.73239870e-01 2.29452756e-01 1.24735077e-02 7.47511107e+01] [-2.29435674e-01 9.73319791e-01 -2.80292080e-03 -1.15109972e+01] [-1.27838499e-02 -1.33953391e-04 9.99918274e-01 -1.68250569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:74.78, Y:-11.52, Z:-1.68 [[ 9.72356262e-01 2.33166428e-01 1.25186571e-02 7.47826920e+01] [-2.33149491e-01 9.72436828e-01 -2.81613598e-03 -1.15170805e+01] [-1.28302316e-02 -1.80431081e-04 9.99917673e-01 -1.68349754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.458623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:74.81, Y:-11.52, Z:-1.68 [[ 9.72013198e-01 2.34592998e-01 1.25087078e-02 7.48146800e+01] [-2.34576191e-01 9.72093661e-01 -2.81506759e-03 -1.15240887e+01] [-1.28200307e-02 -1.97962188e-04 9.99917800e-01 -1.68421578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:74.85, Y:-11.53, Z:-1.68 [[ 9.71614033e-01 2.36235471e-01 1.26084611e-02 7.48455437e+01] [-2.36218498e-01 9.71695814e-01 -2.84024995e-03 -1.15311024e+01] [-1.29225566e-02 -2.18725023e-04 9.99916476e-01 -1.68482250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51862385300001 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:74.88, Y:-11.54, Z:-1.69 [[ 9.71116225e-01 2.38237760e-01 1.32682493e-02 7.48779524e+01] [-2.38219123e-01 9.71206829e-01 -2.99090345e-03 -1.15372476e+01] [-1.35987605e-02 -2.56235848e-04 9.99907500e-01 -1.68503366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54862385300001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:74.91, Y:-11.54, Z:-1.69 [[ 9.70964782e-01 2.38833372e-01 1.36386244e-02 7.49095762e+01] [-2.38813693e-01 9.71060527e-01 -3.07763145e-03 -1.15432764e+01] [-1.39789709e-02 -2.68818513e-04 9.99902253e-01 -1.68517027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57862385300001 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:74.94, Y:-11.55, Z:-1.69 [[ 9.70731234e-01 2.39767141e-01 1.38776535e-02 7.49412367e+01] [-2.39746841e-01 9.70830385e-01 -3.13303923e-03 -1.15475775e+01] [-1.42240476e-02 -2.85784546e-04 9.99898792e-01 -1.68535199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60862385300001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:74.97, Y:-11.55, Z:-1.69 [[ 9.70595260e-01 2.40295473e-01 1.42452129e-02 7.49719563e+01] [-2.40274098e-01 9.70699746e-01 -3.21888262e-03 -1.15529237e+01] [-1.46013074e-02 -2.98523454e-04 9.99893351e-01 -1.68588169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.638623853 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:75.00, Y:-11.56, Z:-1.69 [[ 9.70498666e-01 2.40710883e-01 1.38061813e-02 7.50041323e+01] [-2.40690821e-01 9.70596819e-01 -3.12154870e-03 -1.15585146e+01] [-1.41516264e-02 -2.93562268e-04 9.99899818e-01 -1.68621461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:75.04, Y:-11.56, Z:-1.69 [[ 9.70474394e-01 2.40850595e-01 1.30553030e-02 7.50354267e+01] [-2.40832633e-01 9.70562164e-01 -2.95444752e-03 -1.15621681e+01] [-1.33825636e-02 -2.76927335e-04 9.99910411e-01 -1.68775024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.698623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:75.07, Y:-11.57, Z:-1.69 [[ 9.70515610e-01 2.40702260e-01 1.27228964e-02 7.50676871e+01] [-2.40685163e-01 9.70598965e-01 -2.88116287e-03 -1.15674796e+01] [-1.30423325e-02 -2.65998854e-04 9.99914910e-01 -1.68847810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:75.10, Y:-11.57, Z:-1.69 [[ 9.70729741e-01 2.39853682e-01 1.24089255e-02 7.50986452e+01] [-2.39837311e-01 9.70809019e-01 -2.81304451e-03 -1.15722426e+01] [-1.27214159e-02 -2.45417366e-04 9.99919049e-01 -1.68939503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.758623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:75.13, Y:-11.58, Z:-1.69 [[ 9.70954611e-01 2.38975438e-01 1.17423875e-02 7.51288707e+01] [-2.38960708e-01 9.71025587e-01 -2.66252113e-03 -1.15777332e+01] [-1.20384359e-02 -2.20782063e-04 9.99927511e-01 -1.69031478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:75.16, Y:-11.58, Z:-1.69 [[ 9.71575970e-01 2.36444191e-01 1.15879127e-02 7.51579365e+01] [-2.36429663e-01 9.71645053e-01 -2.62762610e-03 -1.15807627e+01] [-1.18806250e-02 -1.86787933e-04 9.99929405e-01 -1.69125261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.818623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:75.19, Y:-11.59, Z:-1.69 [[ 9.71985771e-01 2.34749629e-01 1.16736134e-02 7.51883327e+01] [-2.34734761e-01 9.72055854e-01 -2.64732235e-03 -1.15860300e+01] [-1.19688622e-02 -1.67043181e-04 9.99928357e-01 -1.69157156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:75.22, Y:-11.59, Z:-1.69 [[ 9.72376877e-01 2.33123211e-01 1.16951609e-02 7.52173816e+01] [-2.33108169e-01 9.72447195e-01 -2.65229655e-03 -1.15913213e+01] [-1.19912383e-02 -1.47205698e-04 9.99928092e-01 -1.69235068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87862385300001 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:75.25, Y:-11.60, Z:-1.69 [[ 9.73174674e-01 2.29799271e-01 1.11062378e-02 7.52475028e+01] [-2.29785492e-01 9.73238041e-01 -2.51851711e-03 -1.15953491e+01] [-1.13877665e-02 -1.01095249e-04 9.99935152e-01 -1.68873314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90862385300001 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:75.28, Y:-11.60, Z:-1.69 [[ 9.73558013e-01 2.28181153e-01 1.08699748e-02 7.52770845e+01] [-2.28167851e-01 9.73618691e-01 -2.46513656e-03 -1.16006084e+01] [-1.11457083e-02 -8.02253302e-05 9.99937881e-01 -1.68649720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93862385300001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:75.31, Y:-11.61, Z:-1.69 [[ 9.74276567e-01 2.25078346e-01 1.11762663e-02 7.53057299e+01] [-2.25064084e-01 9.74340667e-01 -2.53421561e-03 -1.16056362e+01] [-1.14598879e-02 -4.63492575e-05 9.99934332e-01 -1.69421209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96862385300001 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:75.33, Y:-11.61, Z:-1.69 [[ 9.74574924e-01 2.23782649e-01 1.11823144e-02 7.53343869e+01] [-2.23768287e-01 9.74639074e-01 -2.53554270e-03 -1.16114393e+01] [-1.14661311e-02 -3.11710137e-05 9.99934261e-01 -1.69437002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99862385300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:75.36, Y:-11.62, Z:-1.69 [[ 9.75087553e-01 2.21510920e-01 1.17122335e-02 7.53632629e+01] [-2.21495004e-01 9.75157891e-01 -2.65540842e-03 -1.16153985e+01] [-1.20094789e-02 -4.94551986e-06 9.99927884e-01 -1.69462148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:75.39, Y:-11.62, Z:-1.69 [[ 9.75273985e-01 2.20684303e-01 1.17937154e-02 7.53927504e+01] [-2.20668110e-01 9.75345292e-01 -2.67337042e-03 -1.16211433e+01] [-1.20929157e-02 4.77173051e-06 9.99926878e-01 -1.69447409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.058623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:75.42, Y:-11.63, Z:-1.70 [[ 9.75454666e-01 2.19859454e-01 1.22480541e-02 7.54238129e+01] [-2.19841926e-01 9.75531558e-01 -2.77618954e-03 -1.16273802e+01] [-1.25587348e-02 1.54112477e-05 9.99921136e-01 -1.69521919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:75.45, Y:-11.63, Z:-1.70 [[ 9.75604156e-01 2.19171314e-01 1.26674929e-02 7.54539364e+01] [-2.19152502e-01 9.75686391e-01 -2.87168388e-03 -1.16336744e+01] [-1.29888912e-02 2.55139733e-05 9.99915640e-01 -1.69561916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.118623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:75.48, Y:-11.64, Z:-1.70 [[ 9.75738857e-01 2.18547875e-01 1.30579188e-02 7.54837069e+01] [-2.18527826e-01 9.75826227e-01 -2.96044039e-03 -1.16398039e+01] [-1.33892576e-02 3.50981171e-05 9.99910359e-01 -1.69616954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:75.51, Y:-11.65, Z:-1.70 [[ 9.75875107e-01 2.17890335e-01 1.38411431e-02 7.55131802e+01] [-2.17867743e-01 9.75973258e-01 -3.13800995e-03 -1.16457857e+01] [-1.41923276e-02 4.67671884e-05 9.99899283e-01 -1.69578539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.178623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:75.54, Y:-11.65, Z:-1.70 [[ 9.75861928e-01 2.17933425e-01 1.40896826e-02 7.55429317e+01] [-2.17910018e-01 9.75963637e-01 -3.19435784e-03 -1.16518545e+01] [-1.44471752e-02 4.69692292e-05 9.99895633e-01 -1.69638540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:75.57, Y:-11.66, Z:-1.69 [[ 9.75787650e-01 2.18296722e-01 1.36015687e-02 7.55722002e+01] [-2.18274944e-01 9.75882441e-01 -3.08375953e-03 -1.16575128e+01] [-1.39467066e-02 4.02128292e-05 9.99902739e-01 -1.69400116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.238623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:75.60, Y:-11.66, Z:-1.70 [[ 9.75603488e-01 2.19201140e-01 1.21940310e-02 7.55994016e+01] [-2.19183704e-01 9.75679691e-01 -2.76481889e-03 -1.16607828e+01] [-1.25035199e-02 2.46340642e-05 9.99921828e-01 -1.69893523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26862385300001 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:75.63, Y:-11.67, Z:-1.70 [[ 9.75506289e-01 2.19669916e-01 1.15155803e-02 7.56289255e+01] [-2.19654409e-01 9.75574255e-01 -2.61013718e-03 -1.16661301e+01] [-1.18076723e-02 1.67572505e-05 9.99930287e-01 -1.69990296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29862385300001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:75.66, Y:-11.67, Z:-1.70 [[ 9.75190069e-01 2.21117360e-01 1.05566370e-02 7.56577299e+01] [-2.21104414e-01 9.75247206e-01 -2.39265383e-03 -1.16709134e+01] [-1.08243880e-02 -8.26791179e-07 9.99941415e-01 -1.70079885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32862385300001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:75.69, Y:-11.68, Z:-1.70 [[ 9.75031151e-01 2.21831126e-01 1.02570341e-02 7.56870960e+01] [-2.21818950e-01 9.75085100e-01 -2.32427447e-03 -1.16763510e+01] [-1.05170775e-02 -8.96450641e-06 9.99944694e-01 -1.70165700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35862385300001 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:75.71, Y:-11.68, Z:-1.70 [[ 9.74869446e-01 2.22542397e-01 1.02198595e-02 7.57149711e+01] [-2.22530349e-01 9.74923013e-01 -2.31569742e-03 -1.16812560e+01] [-1.04789170e-02 -1.67262294e-05 9.99945095e-01 -1.70253568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:75.74, Y:-11.69, Z:-1.70 [[ 9.74571519e-01 2.23830568e-01 1.04990530e-02 7.57424641e+01] [-2.23817930e-01 9.74628070e-01 -2.37878519e-03 -1.16850369e+01] [-1.07651166e-02 -3.15800020e-05 9.99942054e-01 -1.70275381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.418623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:75.77, Y:-11.69, Z:-1.70 [[ 9.74485371e-01 2.24194953e-01 1.07184494e-02 7.57717631e+01] [-2.24181815e-01 9.74544315e-01 -2.42738119e-03 -1.16901813e+01] [-1.09898105e-02 -3.74339714e-05 9.99939610e-01 -1.70280232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:75.80, Y:-11.70, Z:-1.70 [[ 9.74326074e-01 2.24855964e-01 1.13356308e-02 7.58003190e+01] [-2.24841315e-01 9.74392012e-01 -2.56702467e-03 -1.16950932e+01] [-1.16225590e-02 -4.75990787e-05 9.99932455e-01 -1.70358999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.478623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:75.83, Y:-11.70, Z:-1.70 [[ 9.74231857e-01 2.25250373e-01 1.15999503e-02 7.58281006e+01] [-2.25235067e-01 9.74300912e-01 -2.62634794e-03 -1.16995362e+01] [-1.18934280e-02 -5.40437439e-05 9.99929269e-01 -1.70384759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.508623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:75.86, Y:-11.70, Z:-1.70 [[ 9.74087770e-01 2.25829804e-01 1.24062610e-02 7.58565302e+01] [-2.25812356e-01 9.74166770e-01 -2.80793484e-03 -1.17034297e+01] [-1.27198826e-02 -6.63120444e-05 9.99919097e-01 -1.70403920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.538623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:75.88, Y:-11.71, Z:-1.70 [[ 9.74105428e-01 2.25754842e-01 1.23841368e-02 7.58839269e+01] [-2.25737458e-01 9.74184144e-01 -2.80238736e-03 -1.17077566e+01] [-1.26970822e-02 -6.57428107e-05 9.99919387e-01 -1.70466579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:75.91, Y:-11.71, Z:-1.71 [[ 9.74141866e-01 2.25607390e-01 1.22037428e-02 7.59127222e+01] [-2.25590507e-01 9.74218303e-01 -2.76074184e-03 -1.17124226e+01] [-1.25119533e-02 -6.36943010e-05 9.99921720e-01 -1.70544700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.598623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:75.94, Y:-11.72, Z:-1.70 [[ 9.74359288e-01 2.24703132e-01 1.15100362e-02 7.59405928e+01] [-2.24688056e-01 9.74427268e-01 -2.60337139e-03 -1.17156075e+01] [-1.18006788e-02 -4.95485498e-05 9.99930368e-01 -1.70009901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:75.97, Y:-11.72, Z:-1.71 [[ 9.74483410e-01 2.24132891e-01 1.21049775e-02 7.59685661e+01] [-2.24116183e-01 9.74558590e-01 -2.73702041e-03 -1.17210815e+01] [-1.24104661e-02 -4.57403638e-05 9.99922986e-01 -1.70789229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65862385300001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:76.00, Y:-11.73, Z:-1.71 [[ 9.74658403e-01 2.23376700e-01 1.19936425e-02 7.59967048e+01] [-2.23360248e-01 9.74732193e-01 -2.71126522e-03 -1.17264992e+01] [-1.22962230e-02 -3.63455488e-05 9.99924398e-01 -1.70873806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:76.02, Y:-11.73, Z:-1.71 [[ 9.75088241e-01 2.21503940e-01 1.17866773e-02 7.60249265e+01] [-2.21487921e-01 9.75159476e-01 -2.66391386e-03 -1.17307489e+01] [-1.20839574e-02 -1.30555668e-05 9.99926986e-01 -1.70953642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71862385300001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:76.05, Y:-11.74, Z:-1.71 [[ 9.75323372e-01 2.20481659e-01 1.14959976e-02 7.60521716e+01] [-2.20466355e-01 9.75391121e-01 -2.59775829e-03 -1.17360401e+01] [-1.17858521e-02 -8.26320245e-07 9.99930544e-01 -1.71023623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74862385300001 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:76.08, Y:-11.74, Z:-1.71 [[ 9.75518655e-01 2.19622843e-01 1.13648765e-02 7.60809829e+01] [-2.19607837e-01 9.75584854e-01 -2.56735311e-03 -1.17415672e+01] [-1.16512508e-02 8.68489772e-06 9.99932122e-01 -1.71085404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.778623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:76.11, Y:-11.75, Z:-1.71 [[ 9.75905412e-01 2.17895768e-01 1.14044397e-02 7.61085885e+01] [-2.17880544e-01 9.75972046e-01 -2.57583803e-03 -1.17454010e+01] [-1.16916786e-02 2.89687414e-05 9.99931650e-01 -1.71086315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808623853 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:76.14, Y:-11.75, Z:-1.71 [[ 9.76089107e-01 2.17040036e-01 1.19866088e-02 7.61367456e+01] [-2.17023166e-01 9.76162702e-01 -2.70634731e-03 -1.17505084e+01] [-1.22882662e-02 4.02643296e-05 9.99924496e-01 -1.71119460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.838623853 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:76.16, Y:-11.76, Z:-1.71 [[ 9.76277751e-01 2.16159018e-01 1.25312578e-02 7.61638430e+01] [-2.16140515e-01 9.76358170e-01 -2.82873023e-03 -1.17560097e+01] [-1.28464515e-02 5.31138612e-05 9.99917480e-01 -1.71164703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.868623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:76.19, Y:-11.76, Z:-1.71 [[ 9.76616766e-01 2.14595392e-01 1.29811231e-02 7.61911153e+01] [-2.14575410e-01 9.76703032e-01 -2.92943411e-03 -1.17611632e+01] [-1.33073454e-02 7.55046464e-05 9.99911451e-01 -1.71201499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.898623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:76.22, Y:-11.77, Z:-1.71 [[ 9.76761346e-01 2.13918003e-01 1.32800886e-02 7.62179436e+01] [-2.13897039e-01 9.76851616e-01 -2.99606207e-03 -1.17669899e+01] [-1.36135876e-02 8.58660080e-05 9.99907327e-01 -1.71242837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:76.25, Y:-11.77, Z:-1.71 [[ 9.76768684e-01 2.13884483e-01 1.32802888e-02 7.62465708e+01] [-2.13863528e-01 9.76858956e-01 -2.99517401e-03 -1.17733589e+01] [-1.36135903e-02 8.54227502e-05 9.99907327e-01 -1.71299426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.958623853 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:76.27, Y:-11.78, Z:-1.71 [[ 9.77034350e-01 2.12676662e-01 1.31345270e-02 7.62748052e+01] [-2.12656060e-01 9.77122626e-01 -2.96191949e-03 -1.17788769e+01] [-1.34639746e-02 1.00760322e-04 9.99909352e-01 -1.70765897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:76.30, Y:-11.78, Z:-1.71 [[ 9.77340379e-01 2.11251215e-01 1.33681566e-02 7.63023452e+01] [-2.11229748e-01 9.77431793e-01 -3.01397095e-03 -1.17848016e+01] [-1.37031663e-02 1.21923162e-04 9.99906100e-01 -1.71465940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:76.33, Y:-11.79, Z:-1.72 [[ 9.77540574e-01 2.10313908e-01 1.35087217e-02 7.63300389e+01] [-2.10291911e-01 9.77633900e-01 -3.04472256e-03 -1.17910626e+01] [-1.38469317e-02 1.35564943e-04 9.99904117e-01 -1.71538758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:76.36, Y:-11.80, Z:-1.72 [[ 9.77745005e-01 2.09379027e-01 1.32335980e-02 7.63580216e+01] [-2.09357841e-01 9.77834547e-01 -2.98206501e-03 -1.17980284e+01] [-1.35646512e-02 1.45141668e-04 9.99907985e-01 -1.71578130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:76.39, Y:-11.80, Z:-1.72 [[ 9.78193107e-01 2.07253506e-01 1.35731196e-02 7.63867886e+01] [-2.07231026e-01 9.78287255e-01 -3.05771979e-03 -1.18047688e+01] [-1.39121331e-02 1.78268922e-04 9.99903206e-01 -1.71653961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10862385300001 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:76.41, Y:-11.81, Z:-1.71 [[ 9.78559161e-01 2.05548349e-01 1.31089675e-02 7.64147534e+01] [-2.05527230e-01 9.78646942e-01 -2.95290815e-03 -1.18108038e+01] [-1.34360163e-02 1.95345545e-04 9.99909714e-01 -1.71035976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.138623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:76.44, Y:-11.82, Z:-1.72 [[ 9.78762986e-01 2.04549957e-01 1.35030544e-02 7.64432503e+01] [-2.04527462e-01 9.78856102e-01 -3.04107344e-03 -1.18190373e+01] [-1.38395986e-02 2.14744677e-04 9.99904205e-01 -1.71790147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:76.47, Y:-11.83, Z:-1.72 [[ 9.79040588e-01 2.03235189e-01 1.32281731e-02 7.64711558e+01] [-2.03213484e-01 9.79129923e-01 -2.97891035e-03 -1.18265482e+01] [-1.35575195e-02 2.28331002e-04 9.99908067e-01 -1.71898185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.198623853 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:76.50, Y:-11.84, Z:-1.71 [[ 9.79567952e-01 2.00787878e-01 1.14392052e-02 7.64985365e+01] [-2.00771484e-01 9.79634716e-01 -2.57570303e-03 -1.18359322e+01] [-1.17234125e-02 2.26409941e-04 9.99931253e-01 -1.71348715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:76.53, Y:-11.84, Z:-1.72 [[ 9.79794274e-01 1.99682481e-01 1.14056257e-02 7.65266832e+01] [-1.99666115e-01 9.79860628e-01 -2.56763461e-03 -1.18447582e+01] [-1.16886352e-02 2.38436718e-04 9.99931657e-01 -1.72091383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.258623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:76.55, Y:-11.85, Z:-1.72 [[ 9.80047897e-01 1.98439159e-01 1.13145762e-02 7.65548730e+01] [-1.98422977e-01 9.80113176e-01 -2.54656924e-03 -1.18549981e+01] [-1.15949043e-02 2.50687930e-04 9.99932745e-01 -1.72158848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:76.58, Y:-11.86, Z:-1.72 [[ 9.80045741e-01 1.98428924e-01 1.16750554e-02 7.65836416e+01] [-1.98411688e-01 9.80115246e-01 -2.62813451e-03 -1.18632158e+01] [-1.19643977e-02 2.59224594e-04 9.99928390e-01 -1.72242879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.318623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:76.61, Y:-11.87, Z:-1.72 [[ 9.79951579e-01 1.98890847e-01 1.17189192e-02 7.66125963e+01] [-1.98873520e-01 9.80021615e-01 -2.63753967e-03 -1.18718677e+01] [-1.20093767e-02 2.54078453e-04 9.99927853e-01 -1.72277566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:76.64, Y:-11.88, Z:-1.72 [[ 9.79774335e-01 1.99760829e-01 1.17415183e-02 7.66406111e+01] [-1.99743497e-01 9.79844657e-01 -2.64271503e-03 -1.18806833e+01] [-1.20327749e-02 2.43972440e-04 9.99927574e-01 -1.72354532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37862385300001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:76.67, Y:-11.89, Z:-1.72 [[ 9.79170037e-01 2.02732068e-01 1.12136855e-02 7.66687348e+01] [-2.02716455e-01 9.79234226e-01 -2.52378219e-03 -1.18909610e+01] [-1.14924762e-02 1.98013337e-04 9.99933940e-01 -1.72370901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:76.70, Y:-11.90, Z:-1.72 [[ 9.78778651e-01 2.04606658e-01 1.13343913e-02 7.66980793e+01] [-2.04590836e-01 9.78844259e-01 -2.55071131e-03 -1.18996760e+01] [-1.16164963e-02 1.77669197e-04 9.99932510e-01 -1.72416583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43862385300001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:76.73, Y:-11.91, Z:-1.72 [[ 9.77865723e-01 2.08901919e-01 1.17735367e-02 7.67263831e+01] [-2.08885158e-01 9.77936588e-01 -2.64944740e-03 -1.19098808e+01] [-1.20672469e-02 1.31486726e-04 9.99927179e-01 -1.72486064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:76.75, Y:-11.92, Z:-1.73 [[ 9.77451824e-01 2.10829288e-01 1.17874275e-02 7.67547929e+01] [-2.10812623e-01 9.77522890e-01 -2.65298654e-03 -1.19179321e+01] [-1.20818074e-02 1.08228031e-04 9.99927006e-01 -1.72528643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:76.78, Y:-11.93, Z:-1.73 [[ 9.77080797e-01 2.12535447e-01 1.19079677e-02 7.67834731e+01] [-2.12518570e-01 9.77153353e-01 -2.67981996e-03 -1.19258282e+01] [-1.22054673e-02 8.77363617e-05 9.99925507e-01 -1.72619502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:76.81, Y:-11.93, Z:-1.72 [[ 9.76783745e-01 2.13898608e-01 1.18701815e-02 7.68109445e+01] [-2.13881942e-01 9.76855865e-01 -2.67105065e-03 -1.19331806e+01] [-1.21667904e-02 7.02213906e-05 9.99925979e-01 -1.72057283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.84, Y:-11.94, Z:-1.73 [[ 9.76085523e-01 2.16977543e-01 1.33340574e-02 7.68386932e+01] [-2.16956806e-01 9.76176595e-01 -2.99999244e-03 -1.19433630e+01] [-1.36673257e-02 3.53346924e-05 9.99906597e-01 -1.72697636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:76.87, Y:-11.95, Z:-1.73 [[ 9.75795211e-01 2.18240793e-01 1.39521427e-02 7.68670710e+01] [-2.18218224e-01 9.75894951e-01 -3.13862733e-03 -1.19523374e+01] [-1.43008021e-02 1.80457158e-05 9.99897738e-01 -1.72751704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.90, Y:-11.96, Z:-1.73 [[ 9.75517560e-01 2.19451846e-01 1.43658352e-02 7.68971754e+01] [-2.19428054e-01 9.75623333e-01 -3.23134350e-03 -1.19617851e+01] [-1.47247683e-02 -3.49418664e-08 9.99891585e-01 -1.72773388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.93, Y:-11.97, Z:-1.73 [[ 9.74913748e-01 2.22114776e-01 1.44294589e-02 7.69269250e+01] [-2.22091060e-01 9.75020525e-01 -3.24600891e-03 -1.19719962e+01] [-1.47900052e-02 -4.00751174e-05 9.99890621e-01 -1.72798417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.678623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:76.96, Y:-11.98, Z:-1.73 [[ 9.74540926e-01 2.23768833e-01 1.40531911e-02 7.69571271e+01] [-2.23746505e-01 9.74642245e-01 -3.16170352e-03 -1.19800402e+01] [-1.44043245e-02 -6.31429164e-05 9.99896250e-01 -1.72911374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:76.99, Y:-11.99, Z:-1.73 [[ 9.74094892e-01 2.25731359e-01 1.35829261e-02 7.69862434e+01] [-2.25710685e-01 9.74189584e-01 -3.05629906e-03 -1.19881257e+01] [-1.39222477e-02 -8.86862539e-05 9.99903077e-01 -1.73004341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.738623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.01, Y:-12.00, Z:-1.73 [[ 9.73194875e-01 2.29612888e-01 1.30252778e-02 7.70148493e+01] [-2.29594222e-01 9.73282026e-01 -2.93097779e-03 -1.19976209e+01] [-1.33502590e-02 -1.38115950e-04 9.99910872e-01 -1.73129511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:77.04, Y:-12.01, Z:-1.73 [[ 9.72738422e-01 2.31588178e-01 1.21193224e-02 7.70447061e+01] [-2.31572170e-01 9.72813904e-01 -2.72725352e-03 -1.20055668e+01] [-1.24214450e-02 -1.53593495e-04 9.99922839e-01 -1.72647005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:77.07, Y:-12.01, Z:-1.73 [[ 9.72225099e-01 2.33745948e-01 1.18822531e-02 7.70744440e+01] [-2.33730719e-01 9.72297691e-01 -2.67413077e-03 -1.20130874e+01] [-1.21781544e-02 -1.77390494e-04 9.99925828e-01 -1.72575224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.10, Y:-12.02, Z:-1.73 [[ 9.71080957e-01 2.38405431e-01 1.28306776e-02 7.71023164e+01] [-2.38388076e-01 9.71165684e-01 -2.88779586e-03 -1.20201949e+01] [-1.31491800e-02 -2.54396973e-04 9.99913513e-01 -1.73266277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.13, Y:-12.03, Z:-1.73 [[ 9.70602567e-01 2.40336845e-01 1.29945199e-02 7.71322821e+01] [-2.40319226e-01 9.70689508e-01 -2.92397262e-03 -1.20262749e+01] [-1.33163825e-02 -2.84817625e-04 9.99911292e-01 -1.72809005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.16, Y:-12.03, Z:-1.73 [[ 9.70119188e-01 2.42239905e-01 1.37328226e-02 7.71619135e+01] [-2.42220418e-01 9.70216327e-01 -3.09010242e-03 -1.20321897e+01] [-1.40723548e-02 -3.28602378e-04 9.99900926e-01 -1.73401412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:-12.04, Z:-1.73 [[ 9.69333677e-01 2.45303372e-01 1.47810130e-02 7.71909442e+01] [-2.45281151e-01 9.69446283e-01 -3.32601199e-03 -1.20374436e+01] [-1.51452801e-02 -4.01488455e-04 9.99885223e-01 -1.73448789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.22, Y:-12.04, Z:-1.73 [[ 9.69108741e-01 2.46180652e-01 1.49443673e-02 7.72203872e+01] [-2.46158046e-01 9.69223870e-01 -3.36253382e-03 -1.20434027e+01] [-1.53122283e-02 -4.20015328e-04 9.99882673e-01 -1.73485848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.978623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.25, Y:-12.05, Z:-1.74 [[ 9.68874190e-01 2.47092792e-01 1.50981826e-02 7.72501691e+01] [-2.47069828e-01 9.68991723e-01 -3.39714279e-03 -1.20501761e+01] [-1.54694235e-02 -4.38901410e-04 9.99880245e-01 -1.73545787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.008623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.28, Y:-12.06, Z:-1.74 [[ 9.68519515e-01 2.48473487e-01 1.51946129e-02 7.72788099e+01] [-2.48450397e-01 9.68638587e-01 -3.41888482e-03 -1.20560018e+01] [-1.55675906e-02 -4.63850958e-04 9.99878710e-01 -1.73594034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.038623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:77.31, Y:-12.06, Z:-1.74 [[ 9.68384637e-01 2.49016134e-01 1.49050473e-02 7.73087565e+01] [-2.48993984e-01 9.68499225e-01 -3.35350239e-03 -1.20615280e+01] [-1.52706029e-02 -4.63786917e-04 9.99883290e-01 -1.73636198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.34, Y:-12.07, Z:-1.74 [[ 9.68285221e-01 2.49433001e-01 1.43843386e-02 7.73370660e+01] [-2.49412415e-01 9.68391952e-01 -3.23651089e-03 -1.20661598e+01] [-1.47369703e-02 -4.53766962e-04 9.99891302e-01 -1.73719197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.098623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:77.37, Y:-12.07, Z:-1.74 [[ 9.68171085e-01 2.49895541e-01 1.40345227e-02 7.73659728e+01] [-2.49876000e-01 9.68272697e-01 -3.15733863e-03 -1.20708722e+01] [-1.43782500e-02 -4.50046416e-04 9.99896526e-01 -1.73752967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.40, Y:-12.07, Z:-1.74 [[ 9.67974307e-01 2.50687034e-01 1.34815521e-02 7.73955977e+01] [-2.50669088e-01 9.68068083e-01 -3.03226588e-03 -1.20734862e+01] [-1.38112101e-02 -4.44252907e-04 9.99904522e-01 -1.73878615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.42, Y:-12.08, Z:-1.74 [[ 9.67919378e-01 2.50928644e-01 1.29187511e-02 7.74244354e+01] [-2.50912190e-01 9.68005491e-01 -2.90545315e-03 -1.20772253e+01] [-1.32344834e-02 -4.29227708e-04 9.99912328e-01 -1.73998179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.45, Y:-12.08, Z:-1.74 [[ 9.67951823e-01 2.50836630e-01 1.22578238e-02 7.74523108e+01] [-2.50821812e-01 9.68029349e-01 -2.75654376e-03 -1.20810884e+01] [-1.25573753e-02 -4.06328017e-04 9.99921070e-01 -1.74063493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:77.48, Y:-12.08, Z:-1.74 [[ 9.68167720e-01 2.50008787e-01 1.21191196e-02 7.74814152e+01] [-2.49994248e-01 9.68243488e-01 -2.72455536e-03 -1.20833995e+01] [-1.24154214e-02 -3.91883646e-04 9.99922849e-01 -1.74174158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:77.51, Y:-12.09, Z:-1.74 [[ 9.68369397e-01 2.49210971e-01 1.24339371e-02 7.75098738e+01] [-2.49195609e-01 9.68449141e-01 -2.79472524e-03 -1.20872843e+01] [-1.27381119e-02 -3.92156121e-04 9.99918790e-01 -1.74191619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.278623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:77.54, Y:-12.09, Z:-1.74 [[ 9.69043196e-01 2.46540345e-01 1.31583907e-02 7.75388080e+01] [-2.46522903e-01 9.69132455e-01 -2.95686243e-03 -1.20884938e+01] [-1.34812094e-02 -3.78517260e-04 9.99909053e-01 -1.73812971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:77.57, Y:-12.09, Z:-1.74 [[ 9.69448762e-01 2.44921730e-01 1.35072050e-02 7.75667889e+01] [-2.44903203e-01 9.69542785e-01 -3.03461395e-03 -1.20919763e+01] [-1.38390561e-02 -3.66055047e-04 9.99904169e-01 -1.74247877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.338623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:77.60, Y:-12.10, Z:-1.74 [[ 9.69887641e-01 2.43145784e-01 1.40745141e-02 7.75954259e+01] [-2.43125495e-01 9.69989691e-01 -3.16108534e-03 -1.20954975e+01] [-1.44207382e-02 -3.55975612e-04 9.99895952e-01 -1.74308991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.368623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:77.62, Y:-12.10, Z:-1.74 [[ 9.70346371e-01 2.41295746e-01 1.42927860e-02 7.76229086e+01] [-2.41274632e-01 9.70451571e-01 -3.20943613e-03 -1.20981823e+01] [-1.46448800e-02 -3.34222001e-04 9.99892702e-01 -1.74324882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.398623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:77.65, Y:-12.10, Z:-1.74 [[ 9.70984630e-01 2.38682061e-01 1.48230439e-02 7.76528709e+01] [-2.38659062e-01 9.71097719e-01 -3.32749980e-03 -1.20987035e+01] [-1.51888387e-02 -3.06702597e-04 9.99884596e-01 -1.73767253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:77.68, Y:-12.10, Z:-1.74 [[ 9.71266086e-01 2.37526818e-01 1.49399305e-02 7.76801963e+01] [-2.37503330e-01 9.71380937e-01 -3.35303851e-03 -1.21013444e+01] [-1.53088003e-02 -2.91590649e-04 9.99882771e-01 -1.74436368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.71, Y:-12.10, Z:-1.75 [[ 9.71674094e-01 2.35839266e-01 1.51424795e-02 7.77103542e+01] [-2.35814948e-01 9.71792039e-01 -3.39740730e-03 -1.21004679e+01] [-1.55165831e-02 -2.69650355e-04 9.99879574e-01 -1.74510615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.74, Y:-12.10, Z:-1.75 [[ 9.71817652e-01 2.35230146e-01 1.54022868e-02 7.77385626e+01] [-2.35204922e-01 9.71939663e-01 -3.45495344e-03 -1.21022293e+01] [-1.57828027e-02 -2.65108928e-04 9.99875409e-01 -1.74629248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:-12.10, Z:-1.75 [[ 9.71925401e-01 2.34794553e-01 1.52490574e-02 7.77674757e+01] [-2.34769790e-01 9.72044985e-01 -3.41960548e-03 -1.21041629e+01] [-1.56256745e-02 -2.56416583e-04 9.99877879e-01 -1.74670446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.80, Y:-12.11, Z:-1.75 [[ 9.72048474e-01 2.34298493e-01 1.50326722e-02 7.77957285e+01] [-2.34274379e-01 9.72164675e-01 -3.37039028e-03 -1.21060937e+01] [-1.54039103e-02 -2.45587227e-04 9.99881323e-01 -1.74773631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.82, Y:-12.10, Z:-1.75 [[ 9.72404507e-01 2.32868871e-01 1.41973139e-02 7.78242651e+01] [-2.32847223e-01 9.72508120e-01 -3.18223496e-03 -1.21044473e+01] [-1.45480465e-02 -2.11385490e-04 9.99894149e-01 -1.74935653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:-12.11, Z:-1.75 [[ 9.72682798e-01 2.31736808e-01 1.36464791e-02 7.78518033e+01] [-2.31716711e-01 9.72778503e-01 -3.05771536e-03 -1.21067210e+01] [-1.39835867e-02 -1.87930119e-04 9.99902207e-01 -1.75030067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:77.88, Y:-12.11, Z:-1.75 [[ 9.73035219e-01 2.30288161e-01 1.30317036e-02 7.78795876e+01] [-2.30269713e-01 9.73122468e-01 -2.91927415e-03 -1.21091627e+01] [-1.33537179e-02 -1.60250097e-04 9.99910822e-01 -1.75162827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.91, Y:-12.11, Z:-1.75 [[ 9.73852425e-01 2.26858209e-01 1.21164022e-02 7.79073882e+01] [-2.26842005e-01 9.73927791e-01 -2.71348386e-03 -1.21077608e+01] [-1.24160769e-02 -1.05976133e-04 9.99922912e-01 -1.75340985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.698623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.94, Y:-12.11, Z:-1.75 [[ 9.74275771e-01 2.25046089e-01 1.18734912e-02 7.79352278e+01] [-2.25030408e-01 9.74348116e-01 -2.65796377e-03 -1.21097456e+01] [-1.21670782e-02 -8.23068679e-05 9.99925975e-01 -1.75393173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.96, Y:-12.11, Z:-1.75 [[ 9.74711143e-01 2.23159533e-01 1.17477955e-02 7.79633657e+01] [-2.23144055e-01 9.74781934e-01 -2.62892988e-03 -1.21114614e+01] [-1.20382096e-02 -5.90034812e-05 9.99927536e-01 -1.75463443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.758623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.99, Y:-12.11, Z:-1.76 [[ 9.75489080e-01 2.19723695e-01 1.19395244e-02 7.79915680e+01] [-2.19707461e-01 9.75562144e-01 -2.67097464e-03 -1.21085992e+01] [-1.22346245e-02 -1.76959997e-05 9.99925154e-01 -1.75545303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.02, Y:-12.11, Z:-1.76 [[ 9.75813525e-01 2.18288385e-01 1.17535338e-02 7.80184364e+01] [-2.18272561e-01 9.75884307e-01 -2.62832695e-03 -1.21104871e+01] [-1.20438224e-02 -7.16941801e-07 9.99927471e-01 -1.75582002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:-12.12, Z:-1.76 [[ 9.75826268e-01 2.18231397e-01 1.17537966e-02 7.80462687e+01] [-2.18215583e-01 9.75897053e-01 -2.62715113e-03 -1.21165751e+01] [-1.20438223e-02 -1.21848324e-06 9.99927471e-01 -1.75636982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:78.07, Y:-12.12, Z:-1.75 [[ 9.76072978e-01 2.17126358e-01 1.17339435e-02 7.80742497e+01] [-2.17110525e-01 9.76143506e-01 -2.62209316e-03 -1.21199902e+01] [-1.20233383e-02 1.17916356e-05 9.99927717e-01 -1.75023549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.10, Y:-12.12, Z:-1.76 [[ 9.76743253e-01 2.13988970e-01 1.34662276e-02 7.81013918e+01] [-2.13967835e-01 9.76836075e-01 -3.00803994e-03 -1.21207903e+01] [-1.37979843e-02 5.67431603e-05 9.99904802e-01 -1.75703851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:-12.12, Z:-1.76 [[ 9.77051823e-01 2.12520518e-01 1.43095921e-02 7.81289241e+01] [-2.12496515e-01 9.77156601e-01 -3.19502675e-03 -1.21248349e+01] [-1.46617211e-02 8.09682663e-05 9.99892508e-01 -1.75702705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.16, Y:-12.13, Z:-1.76 [[ 9.77367174e-01 2.11011794e-01 1.50808074e-02 7.81555340e+01] [-2.10984970e-01 9.77483509e-01 -3.36619970e-03 -1.21278021e+01] [-1.54515484e-02 1.08189387e-04 9.99880612e-01 -1.75724853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.18, Y:-12.13, Z:-1.76 [[ 9.77609929e-01 2.09846605e-01 1.55958081e-02 7.81836084e+01] [-2.09817804e-01 9.77734312e-01 -3.47899380e-03 -1.21306263e+01] [-1.59786117e-02 1.28820680e-04 9.99872326e-01 -1.75758754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.21, Y:-12.13, Z:-1.76 [[ 9.77895319e-01 2.08502695e-01 1.57280744e-02 7.82119110e+01] [-2.08473248e-01 9.78021781e-01 -3.50730263e-03 -1.21332165e+01] [-1.61136814e-02 1.50892064e-04 9.99870155e-01 -1.75811330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.24, Y:-12.13, Z:-1.76 [[ 9.78483535e-01 2.05785369e-01 1.49115266e-02 7.82389084e+01] [-2.05758601e-01 9.78597133e-01 -3.32420700e-03 -1.21347143e+01] [-1.52764503e-02 1.84506973e-04 9.99883291e-01 -1.75926508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:-12.14, Z:-1.76 [[ 9.78783082e-01 2.04377870e-01 1.46070153e-02 7.82661822e+01] [-2.04352047e-01 9.78892050e-01 -3.25501472e-03 -1.21399628e+01] [-1.49639441e-02 2.00979864e-04 9.99888014e-01 -1.76032620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:-12.15, Z:-1.76 [[ 9.79151958e-01 2.02634370e-01 1.41688293e-02 7.82938610e+01] [-2.02609905e-01 9.79254443e-01 -3.15637917e-03 -1.21452192e+01] [-1.45144800e-02 2.19829677e-04 9.99894635e-01 -1.76076730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.32, Y:-12.15, Z:-1.76 [[ 9.79740014e-01 1.99836126e-01 1.32298073e-02 7.83211133e+01] [-1.99814553e-01 9.79829303e-01 -2.94628193e-03 -1.21493155e+01] [-1.35517265e-02 2.43082254e-04 9.99908142e-01 -1.76167444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.35, Y:-12.15, Z:-1.76 [[ 9.79948329e-01 1.98813372e-01 1.32104405e-02 7.83476593e+01] [-1.98791780e-01 9.80037335e-01 -2.94125575e-03 -1.21543028e+01] [-1.35314859e-02 2.56151678e-04 9.99908412e-01 -1.76224482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:-12.16, Z:-1.76 [[ 9.80122938e-01 1.97968293e-01 1.29453102e-02 7.83738798e+01] [-1.97947509e-01 9.80208390e-01 -2.88041586e-03 -1.21588788e+01] [-1.32593327e-02 2.60669762e-04 9.99912057e-01 -1.76328629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.40, Y:-12.16, Z:-1.76 [[ 9.80153501e-01 1.97854130e-01 1.23635506e-02 7.84009171e+01] [-1.97835176e-01 9.80231443e-01 -2.74997042e-03 -1.21636724e+01] [-1.26632340e-02 2.49447931e-04 9.99919787e-01 -1.76303974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:-12.17, Z:-1.76 [[ 9.80096890e-01 1.98158606e-01 1.19688406e-02 7.84280248e+01] [-1.98140878e-01 9.80169940e-01 -2.66113122e-03 -1.21686185e+01] [-1.22588238e-02 2.36649854e-04 9.99924830e-01 -1.76407971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:-12.17, Z:-1.77 [[ 9.80053638e-01 1.98383587e-01 1.17821329e-02 7.84542047e+01] [-1.98366429e-01 9.80124431e-01 -2.61918316e-03 -1.21734519e+01] [-1.20675592e-02 2.29760359e-04 9.99927158e-01 -1.76524789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:78.48, Y:-12.18, Z:-1.76 [[ 9.79806750e-01 1.99612684e-01 1.15546319e-02 7.84807760e+01] [-1.99596290e-01 9.79874856e-01 -2.56677000e-03 -1.21792983e+01] [-1.18344531e-02 2.08676915e-04 9.99929949e-01 -1.76039168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.51, Y:-12.18, Z:-1.77 [[ 9.79722462e-01 1.99982193e-01 1.22890509e-02 7.85071010e+01] [-1.99963692e-01 9.79799508e-01 -2.72873414e-03 -1.21841007e+01] [-1.25865042e-02 2.16038151e-04 9.99920763e-01 -1.76594813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.53, Y:-12.19, Z:-1.77 [[ 9.79652542e-01 2.00327640e-01 1.22365758e-02 7.85348167e+01] [-2.00309337e-01 9.79728938e-01 -2.71604214e-03 -1.21898399e+01] [-1.25326258e-02 2.09677195e-04 9.99921442e-01 -1.76654591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:-12.20, Z:-1.77 [[ 9.79618446e-01 2.00497110e-01 1.21905338e-02 7.85626195e+01] [-2.00478969e-01 9.79694272e-01 -2.70494789e-03 -1.21959960e+01] [-1.24853303e-02 2.05871209e-04 9.99922034e-01 -1.76745661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.59, Y:-12.20, Z:-1.77 [[ 9.79687279e-01 2.00188949e-01 1.17141300e-02 7.85900167e+01] [-2.00172185e-01 9.79757289e-01 -2.59843647e-03 -1.22016554e+01] [-1.19971825e-02 2.00812157e-04 9.99928011e-01 -1.76794978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:-12.21, Z:-1.77 [[ 9.79730296e-01 1.99960443e-01 1.20153298e-02 7.86172973e+01] [-1.99942800e-01 9.79803949e-01 -2.66434857e-03 -1.22075086e+01] [-1.23054319e-02 2.07964324e-04 9.99924264e-01 -1.76878267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.64, Y:-12.21, Z:-1.77 [[ 9.79771133e-01 1.99751736e-01 1.21561074e-02 7.86437886e+01] [-1.99733672e-01 9.79846518e-01 -2.69472030e-03 -1.22138472e+01] [-1.24493946e-02 2.12225193e-04 9.99922481e-01 -1.76923829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.67, Y:-12.22, Z:-1.77 [[ 9.79840713e-01 1.99415976e-01 1.20600776e-02 7.86691555e+01] [-1.99398184e-01 9.79914906e-01 -2.67239198e-03 -1.22218363e+01] [-1.23507675e-02 2.13760882e-04 9.99923704e-01 -1.76952607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:-12.23, Z:-1.77 [[ 9.79843133e-01 1.99415146e-01 1.18757881e-02 7.86960409e+01] [-1.99397906e-01 9.79915076e-01 -2.63049375e-03 -1.22285718e+01] [-1.21618241e-02 2.09463956e-04 9.99926020e-01 -1.77008812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:78.72, Y:-12.24, Z:-1.76 [[ 9.79547265e-01 2.00914720e-01 1.09741084e-02 7.87232601e+01] [-2.00900100e-01 9.79608720e-01 -2.43008896e-03 -1.22358476e+01] [-1.12385730e-02 1.75687516e-04 9.99936830e-01 -1.76409441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.75, Y:-12.24, Z:-1.77 [[ 9.79290549e-01 2.02148996e-01 1.12162079e-02 7.87495844e+01] [-2.02133814e-01 9.79354765e-01 -2.48294863e-03 -1.22412004e+01] [-1.14865723e-02 1.64353249e-04 9.99934014e-01 -1.77067310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:-12.25, Z:-1.77 [[ 9.78912071e-01 2.03976195e-01 1.11745170e-02 7.87766785e+01] [-2.03961255e-01 9.78975838e-01 -2.47272375e-03 -1.22471289e+01] [-1.14439589e-02 1.41410612e-04 9.99934506e-01 -1.77094434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:-12.25, Z:-1.77 [[ 9.77868032e-01 2.08930848e-01 1.10459377e-02 7.88037982e+01] [-2.08916576e-01 9.77930414e-01 -2.44345263e-03 -1.22519478e+01] [-1.13126710e-02 8.16947427e-05 9.99936006e-01 -1.77094840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.83, Y:-12.26, Z:-1.77 [[ 9.77314284e-01 2.11504312e-01 1.10777280e-02 7.88305313e+01] [-2.11490126e-01 9.77377063e-01 -2.45011622e-03 -1.22577065e+01] [-1.13453274e-02 5.17034829e-05 9.99935638e-01 -1.77150080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:-12.26, Z:-1.77 [[ 9.76851227e-01 2.13637611e-01 1.09841358e-02 7.88581052e+01] [-2.13623821e-01 9.76912980e-01 -2.42745647e-03 -1.22636383e+01] [-1.12491408e-02 2.47907828e-05 9.99936726e-01 -1.77263091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:78.88, Y:-12.27, Z:-1.77 [[ 9.76113767e-01 2.16980483e-01 1.10174386e-02 7.88848413e+01] [-2.16966826e-01 9.76175942e-01 -2.43446001e-03 -1.22692255e+01] [-1.12831888e-02 -1.41087529e-05 9.99936343e-01 -1.77320321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.778623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:78.91, Y:-12.27, Z:-1.77 [[ 9.75861249e-01 2.18096668e-01 1.13431206e-02 7.89122377e+01] [-2.18082292e-01 9.75927171e-01 -2.50425985e-03 -1.22749319e+01] [-1.16162304e-02 -2.99236041e-05 9.99932529e-01 -1.77378785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:-12.28, Z:-1.77 [[ 9.75747789e-01 2.18579593e-01 1.17989103e-02 7.89392553e+01] [-2.18564085e-01 9.75819123e-01 -2.60403696e-03 -1.22804523e+01] [-1.20827916e-02 -3.79347230e-05 9.99927000e-01 -1.77411488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.97, Y:-12.29, Z:-1.77 [[ 9.75660394e-01 2.18937579e-01 1.23746343e-02 7.89654477e+01] [-2.18920560e-01 9.75738866e-01 -2.73020058e-03 -1.22857755e+01] [-1.26721552e-02 -4.53132973e-05 9.99919704e-01 -1.77451671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.868623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:78.99, Y:-12.29, Z:-1.77 [[ 9.75621878e-01 2.19083706e-01 1.28171821e-02 7.89925053e+01] [-2.19065477e-01 9.75706066e-01 -2.82663422e-03 -1.22912612e+01] [-1.31250718e-02 -5.00759105e-05 9.99913861e-01 -1.77041731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.898623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:79.02, Y:-12.30, Z:-1.77 [[ 9.75635614e-01 2.19009531e-01 1.30374246e-02 7.90203510e+01] [-2.18990676e-01 9.75722718e-01 -2.87417901e-03 -1.22973214e+01] [-1.33503839e-02 -5.09230270e-05 9.99910878e-01 -1.76915796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.05, Y:-12.30, Z:-1.78 [[ 9.75916737e-01 2.17719643e-01 1.35896858e-02 7.90470600e+01] [-2.17699047e-01 9.76011350e-01 -2.99487241e-03 -1.23016112e+01] [-1.39157302e-02 -3.57155426e-05 9.99903171e-01 -1.77581762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.07, Y:-12.31, Z:-1.78 [[ 9.76059553e-01 2.17107700e-01 1.31147470e-02 7.90742482e+01] [-2.17088479e-01 9.76147656e-01 -2.88898123e-03 -1.23070143e+01] [-1.34291496e-02 -2.72427457e-05 9.99909825e-01 -1.77661444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.10, Y:-12.31, Z:-1.78 [[ 9.76173205e-01 2.16617770e-01 1.27521016e-02 7.91019328e+01] [-2.16599568e-01 9.76256494e-01 -2.80821657e-03 -1.23121606e+01] [-1.30576316e-02 -2.07939281e-05 9.99914745e-01 -1.77729810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.13, Y:-12.32, Z:-1.78 [[ 9.76453155e-01 2.15400626e-01 1.19082752e-02 7.91288786e+01] [-2.15384671e-01 9.76525765e-01 -2.62168633e-03 -1.23164951e+01] [-1.21934505e-02 -4.90605984e-06 9.99925657e-01 -1.77809616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.16, Y:-12.32, Z:-1.78 [[ 9.76606110e-01 2.14709846e-01 1.18400620e-02 7.91551489e+01] [-2.14694031e-01 9.76677880e-01 -2.60599404e-03 -1.23213875e+01] [-1.21234592e-02 3.03906802e-06 9.99926508e-01 -1.77793649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07862385300001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:79.18, Y:-12.33, Z:-1.77 [[ 9.76724939e-01 2.14163812e-01 1.19271166e-02 7.91826868e+01] [-2.14147747e-01 9.76797759e-01 -2.62313747e-03 -1.23270315e+01] [-1.22121619e-02 7.91864555e-06 9.99925429e-01 -1.77389271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.21, Y:-12.33, Z:-1.78 [[ 9.76883130e-01 2.13430244e-01 1.21194331e-02 7.92098825e+01] [-2.13413611e-01 9.76958306e-01 -2.66455230e-03 -1.23317058e+01] [-1.24088768e-02 1.65042157e-05 9.99923007e-01 -1.77926680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:-12.34, Z:-1.78 [[ 9.77177026e-01 2.12107760e-01 1.16343123e-02 7.92358989e+01] [-2.12092347e-01 9.77246283e-01 -2.55716047e-03 -1.23373190e+01] [-1.19119821e-02 3.12498493e-05 9.99929049e-01 -1.77959510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.26, Y:-12.34, Z:-1.78 [[ 9.77337927e-01 2.11354630e-01 1.18236047e-02 7.92632653e+01] [-2.11338671e-01 9.77409443e-01 -2.59759914e-03 -1.23433042e+01] [-1.21055175e-02 3.99472551e-05 9.99926725e-01 -1.77992688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.198623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.29, Y:-12.35, Z:-1.78 [[ 9.77662297e-01 2.09811440e-01 1.24736594e-02 7.92894292e+01] [-2.09793560e-01 9.77741866e-01 -2.73980076e-03 -1.23490824e+01] [-1.27708605e-02 6.17064970e-05 9.99918447e-01 -1.77996334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.32, Y:-12.35, Z:-1.78 [[ 9.77829905e-01 2.09013446e-01 1.27301038e-02 7.93163907e+01] [-2.08994783e-01 9.77912764e-01 -2.79399225e-03 -1.23547258e+01] [-1.30329129e-02 7.15238995e-05 9.99915065e-01 -1.78046144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.34, Y:-12.36, Z:-1.78 [[ 9.77970899e-01 2.08340804e-01 1.29240392e-02 7.93423492e+01] [-2.08321522e-01 9.78056288e-01 -2.83564595e-03 -1.23606866e+01] [-1.32312186e-02 8.08237033e-05 9.99912460e-01 -1.78084707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:-12.37, Z:-1.78 [[ 9.78109531e-01 2.07687175e-01 1.29531361e-02 7.93696291e+01] [-2.07667764e-01 9.78195292e-01 -2.84084031e-03 -1.23671157e+01] [-1.32607029e-02 8.87041740e-05 9.99912069e-01 -1.78183155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.40, Y:-12.37, Z:-1.78 [[ 9.78458311e-01 2.06074239e-01 1.23588840e-02 7.93954297e+01] [-2.06056449e-01 9.78536355e-01 -2.70974377e-03 -1.23744013e+01] [-1.26520257e-02 1.04743558e-04 9.99919954e-01 -1.78238317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.42, Y:-12.38, Z:-1.78 [[ 9.78645926e-01 2.05196052e-01 1.21132733e-02 7.94218364e+01] [-2.05178907e-01 9.78720883e-01 -2.65488653e-03 -1.23808684e+01] [-1.24002858e-02 1.12805715e-04 9.99923107e-01 -1.78293742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.45, Y:-12.39, Z:-1.78 [[ 9.78774392e-01 2.04596532e-01 1.18722130e-02 7.94493010e+01] [-2.04580031e-01 9.78846385e-01 -2.60099502e-03 -1.23884688e+01] [-1.21532273e-02 1.16969612e-04 9.99926140e-01 -1.78122675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.48, Y:-12.40, Z:-1.78 [[ 9.78908167e-01 2.03970411e-01 1.16134554e-02 7.94759354e+01] [-2.03954588e-01 9.78977046e-01 -2.54348998e-03 -1.23954957e+01] [-1.18881030e-02 1.21225596e-04 9.99929327e-01 -1.78425269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.50, Y:-12.40, Z:-1.79 [[ 9.79067033e-01 2.03230356e-01 1.11877792e-02 7.95020071e+01] [-2.03215631e-01 9.79130945e-01 -2.44957876e-03 -1.24039569e+01] [-1.14521296e-02 1.24770198e-04 9.99934414e-01 -1.78507576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:79.53, Y:-12.41, Z:-1.78 [[ 9.79068806e-01 2.03250454e-01 1.06548653e-02 7.95288553e+01] [-2.03237110e-01 9.79126774e-01 -2.33195902e-03 -1.24112312e+01] [-1.09064356e-02 1.17684310e-04 9.99940516e-01 -1.78150080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:-12.42, Z:-1.79 [[ 9.79025060e-01 2.03457524e-01 1.07222706e-02 7.95545773e+01] [-2.03444026e-01 9.79083767e-01 -2.34639099e-03 -1.24172622e+01] [-1.09753919e-02 1.15793690e-04 9.99939762e-01 -1.78577569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.58, Y:-12.43, Z:-1.79 [[ 9.78712803e-01 2.04997824e-01 9.85604644e-03 7.95802099e+01] [-2.04986513e-01 9.78762425e-01 -2.15526187e-03 -1.24255325e+01] [-1.00885519e-02 8.90257876e-05 9.99949105e-01 -1.78675633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.61, Y:-12.43, Z:-1.78 [[ 9.78484284e-01 2.06107879e-01 9.38340287e-03 7.96072228e+01] [-2.06097686e-01 9.78529272e-01 -2.05109497e-03 -1.24330187e+01] [-9.60468122e-03 7.30665762e-05 9.99953871e-01 -1.78332154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:-12.44, Z:-1.79 [[ 9.77981405e-01 2.08449701e-01 1.00545839e-02 7.96337675e+01] [-2.08438124e-01 9.78033087e-01 -2.19748833e-03 -1.24398737e+01] [-1.02917815e-02 5.33441135e-05 9.99947037e-01 -1.78725407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.66, Y:-12.45, Z:-1.79 [[ 9.77765202e-01 2.09430445e-01 1.06816746e-02 7.96598606e+01] [-2.09417460e-01 9.77823546e-01 -2.33255290e-03 -1.24457347e+01] [-1.09333006e-02 4.37598856e-05 9.99940229e-01 -1.78742958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.69, Y:-12.45, Z:-1.79 [[ 9.77582568e-01 2.10271473e-01 1.08733572e-02 7.96868738e+01] [-2.10258081e-01 9.77643036e-01 -2.37340069e-03 -1.24516031e+01] [-1.11293204e-02 3.39839131e-05 9.99938067e-01 -1.78797561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.678623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:79.71, Y:-12.46, Z:-1.79 [[ 9.77475474e-01 2.10755505e-01 1.11272314e-02 7.97128283e+01] [-2.10741520e-01 9.77538805e-01 -2.42809684e-03 -1.24578849e+01] [-1.13890353e-02 2.84354436e-05 9.99935142e-01 -1.78852022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.74, Y:-12.47, Z:-1.79 [[ 9.77477459e-01 2.10726393e-01 1.14980049e-02 7.97398935e+01] [-2.10711470e-01 9.77545082e-01 -2.50793864e-03 -1.24666524e+01] [-1.17683070e-02 2.86919716e-05 9.99930751e-01 -1.78930772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.77, Y:-12.47, Z:-1.79 [[ 9.77500543e-01 2.10619284e-01 1.14980992e-02 7.97677592e+01] [-2.10604359e-01 9.77568165e-01 -2.50750636e-03 -1.24725546e+01] [-1.17683049e-02 2.95390115e-05 9.99930751e-01 -1.78985741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.79, Y:-12.48, Z:-1.79 [[ 9.77644975e-01 2.09951996e-01 1.14219893e-02 7.97945292e+01] [-2.09937241e-01 9.77711695e-01 -2.48926953e-03 -1.24795114e+01] [-1.16900397e-02 3.57209118e-05 9.99931669e-01 -1.79054049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.82, Y:-12.49, Z:-1.79 [[ 9.77872678e-01 2.08861025e-01 1.19204977e-02 7.98208486e+01] [-2.08844884e-01 9.77945331e-01 -2.59711312e-03 -1.24865684e+01] [-1.22000307e-02 5.01110083e-05 9.99925576e-01 -1.79119220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.85, Y:-12.50, Z:-1.79 [[ 9.78371783e-01 2.06471411e-01 1.25781397e-02 7.98474887e+01] [-2.06453256e-01 9.78452630e-01 -2.73927287e-03 -1.24958562e+01] [-1.28726954e-02 8.32293816e-05 9.99917140e-01 -1.79166998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.87, Y:-12.50, Z:-1.79 [[ 9.78698060e-01 2.04926058e-01 1.24666757e-02 7.98743831e+01] [-2.04908109e-01 9.78777452e-01 -2.71409159e-03 -1.25029883e+01] [-1.27582892e-02 1.01753221e-04 9.99918605e-01 -1.79168246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.90, Y:-12.51, Z:-1.79 [[ 9.79349776e-01 2.01835585e-01 1.16795939e-02 7.99001738e+01] [-2.01819620e-01 9.79419409e-01 -2.54203191e-03 -1.25111439e+01] [-1.19522935e-02 1.32367165e-04 9.99928560e-01 -1.79157565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.93, Y:-12.52, Z:-1.79 [[ 9.79634481e-01 2.00457400e-01 1.15375115e-02 7.99275349e+01] [-2.00441738e-01 9.79702409e-01 -2.51001633e-03 -1.25188234e+01] [-1.18064792e-02 1.46299688e-04 9.99930290e-01 -1.79284392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.95, Y:-12.53, Z:-1.79 [[ 9.79908652e-01 1.99121861e-01 1.13805824e-02 7.99533211e+01] [-1.99106541e-01 9.79974724e-01 -2.47513387e-03 -1.25261664e+01] [-1.16455364e-02 1.59456689e-04 9.99932176e-01 -1.79311293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.978623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.98, Y:-12.54, Z:-1.79 [[ 9.80378677e-01 1.96803866e-01 1.12200170e-02 7.99798483e+01] [-1.96788835e-01 9.80442862e-01 -2.43916700e-03 -1.25361752e+01] [-1.14806230e-02 1.83333237e-04 9.99934079e-01 -1.79399229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.01, Y:-12.54, Z:-1.79 [[ 9.80578397e-01 1.95817441e-01 1.10243609e-02 8.00058974e+01] [-1.95802876e-01 9.80640349e-01 -2.39593893e-03 -1.25442574e+01] [-1.12800998e-02 1.90804380e-04 9.99936359e-01 -1.79442381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.038623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.03, Y:-12.55, Z:-1.80 [[ 9.80779447e-01 1.94822654e-01 1.07615206e-02 8.00325129e+01] [-1.94808726e-01 9.80838465e-01 -2.33783566e-03 -1.25524651e+01] [-1.10107767e-02 1.96463058e-04 9.99939360e-01 -1.79502515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.06, Y:-12.56, Z:-1.80 [[ 9.81088334e-01 1.93258556e-01 1.08079050e-02 8.00588053e+01] [-1.93244421e-01 9.81147840e-01 -2.34711760e-03 -1.25636877e+01] [-1.10577532e-02 2.14162360e-04 9.99938838e-01 -1.79574734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:-12.57, Z:-1.80 [[ 9.81196818e-01 1.92703583e-01 1.08689480e-02 8.00844376e+01] [-1.92689260e-01 9.81256990e-01 -2.35982667e-03 -1.25727044e+01] [-1.11199783e-02 2.21124864e-04 9.99938147e-01 -1.79645915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.11, Y:-12.58, Z:-1.80 [[ 9.81299179e-01 1.92182721e-01 1.08500229e-02 8.01122811e+01] [-1.92168434e-01 9.81359135e-01 -2.35413202e-03 -1.25821594e+01] [-1.11001926e-02 2.25075916e-04 9.99938366e-01 -1.79682823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.14, Y:-12.60, Z:-1.80 [[ 9.81279029e-01 1.92272998e-01 1.10707763e-02 8.01384673e+01] [-1.92258136e-01 9.81341450e-01 -2.40148055e-03 -1.25951378e+01] [-1.13259516e-02 2.28075677e-04 9.99935833e-01 -1.79659268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.17, Y:-12.60, Z:-1.80 [[ 9.81165617e-01 1.92835828e-01 1.13302599e-02 8.01656819e+01] [-1.92820305e-01 9.81231009e-01 -2.45719668e-03 -1.26046236e+01] [-1.15914379e-02 2.26212736e-04 9.99932791e-01 -1.79684485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.19, Y:-12.61, Z:-1.80 [[ 9.81025393e-01 1.93532148e-01 1.15968136e-02 8.01928107e+01] [-1.93515941e-01 9.81093909e-01 -2.51441832e-03 -1.26141404e+01] [-1.18641840e-02 2.22539923e-04 9.99929593e-01 -1.79761650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.22, Y:-12.63, Z:-1.80 [[ 9.80584200e-01 1.95745333e-01 1.17640019e-02 8.02185965e+01] [-1.95728821e-01 9.80654743e-01 -2.55016924e-03 -1.26265916e+01] [-1.20356080e-02 1.98101451e-04 9.99927550e-01 -1.79778943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.278623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.25, Y:-12.64, Z:-1.80 [[ 9.80311883e-01 1.97114855e-01 1.15907930e-02 8.02464339e+01] [-1.97098930e-01 9.80380387e-01 -2.51184966e-03 -1.26353341e+01] [-1.18585090e-02 1.77863177e-04 9.99929670e-01 -1.79814600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.27, Y:-12.65, Z:-1.80 [[ 9.79486519e-01 2.01208509e-01 1.10134266e-02 8.02731633e+01] [-2.01194395e-01 9.79548427e-01 -2.38626814e-03 -1.26462871e+01] [-1.12683222e-02 1.21477759e-04 9.99936503e-01 -1.79921587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.30, Y:-12.66, Z:-1.80 [[ 9.78996980e-01 2.03601917e-01 1.05438061e-02 8.02996547e+01] [-2.03589124e-01 9.79053753e-01 -2.28412189e-03 -1.26552766e+01] [-1.07880045e-02 8.95441859e-05 9.99941804e-01 -1.79986829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.33, Y:-12.66, Z:-1.80 [[ 9.78406949e-01 2.06435936e-01 1.02002984e-02 8.03265316e+01] [-2.06424125e-01 9.78460117e-01 -2.20897054e-03 -1.26640795e+01] [-1.04365960e-02 5.56844557e-05 9.99945536e-01 -1.80078151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:-12.67, Z:-1.80 [[ 9.77767571e-01 2.09471176e-01 9.61262954e-03 8.03539265e+01] [-2.09460837e-01 9.77814822e-01 -2.08128997e-03 -1.26725739e+01] [-9.83534190e-03 2.15484039e-05 9.99951632e-01 -1.80156191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.38, Y:-12.68, Z:-1.80 [[ 9.76167484e-01 2.16835623e-01 8.90820589e-03 8.03804762e+01] [-2.16827053e-01 9.76208128e-01 -1.92851336e-03 -1.26823150e+01] [-9.11443340e-03 -4.89879976e-05 9.99958461e-01 -1.80293621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:-12.69, Z:-1.80 [[ 9.75340626e-01 2.20517537e-01 9.09278765e-03 8.04084582e+01] [-2.20508774e-01 9.75383006e-01 -1.96775687e-03 -1.26897964e+01] [-9.30287545e-03 -8.58062438e-05 9.99956724e-01 -1.80334794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.44, Y:-12.70, Z:-1.80 [[ 9.74466696e-01 2.24333462e-01 9.44226087e-03 8.04352403e+01] [-2.24324195e-01 9.74512433e-01 -2.04303739e-03 -1.26967180e+01] [-9.65992226e-03 -1.27255670e-04 9.99953334e-01 -1.80351713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.46, Y:-12.70, Z:-1.80 [[ 9.72785109e-01 2.31467921e-01 1.05704077e-02 8.04615215e+01] [-2.31456735e-01 9.72842511e-01 -2.28642751e-03 -1.27031089e+01] [-1.08125766e-02 -2.22389412e-04 9.99941518e-01 -1.80356405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:80.49, Y:-12.71, Z:-1.80 [[ 9.72151027e-01 2.34116205e-01 1.05822507e-02 8.04897277e+01] [-2.34105164e-01 9.72208588e-01 -2.28777420e-03 -1.27093457e+01] [-1.08237600e-02 -2.53297489e-04 9.99941389e-01 -1.80331929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.52, Y:-12.71, Z:-1.80 [[ 9.71332741e-01 2.37476600e-01 1.08430286e-02 8.05167333e+01] [-2.37465222e-01 9.71393214e-01 -2.34368126e-03 -1.27144913e+01] [-1.10894139e-02 -2.98347861e-04 9.99938466e-01 -1.80436509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:-12.72, Z:-1.81 [[ 9.71054516e-01 2.38607534e-01 1.09348978e-02 8.05446972e+01] [-2.38596041e-01 9.71116031e-01 -2.36293026e-03 -1.27197627e+01] [-1.11828676e-02 -3.14489229e-04 9.99937420e-01 -1.80545893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.57, Y:-12.72, Z:-1.81 [[ 9.70903670e-01 2.39220783e-01 1.09307178e-02 8.05721335e+01] [-2.39209348e-01 9.70965145e-01 -2.36113098e-03 -1.27249535e+01] [-1.11781776e-02 -3.22299146e-04 9.99937470e-01 -1.80618302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:-12.73, Z:-1.81 [[ 9.70821359e-01 2.39550344e-01 1.10236771e-02 8.05992879e+01] [-2.39538742e-01 9.70883888e-01 -2.38053462e-03 -1.27301349e+01] [-1.12729684e-02 -3.29523903e-04 9.99936404e-01 -1.80687408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.63, Y:-12.74, Z:-1.81 [[ 9.71050433e-01 2.38612164e-01 1.11933506e-02 8.06267068e+01] [-2.38600146e-01 9.71114890e-01 -2.41657024e-03 -1.27350576e+01] [-1.14466525e-02 -3.24123511e-04 9.99934432e-01 -1.80691464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.66, Y:-12.74, Z:-1.81 [[ 9.71266683e-01 2.37725791e-01 1.12906412e-02 8.06550787e+01] [-2.37713515e-01 9.71332254e-01 -2.43660108e-03 -1.27404384e+01] [-1.15462069e-02 -3.17348555e-04 9.99933290e-01 -1.80704648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.68, Y:-12.75, Z:-1.81 [[ 9.71595768e-01 2.36367102e-01 1.15003301e-02 8.06833971e+01] [-2.36354278e-01 9.71663779e-01 -2.48127539e-03 -1.27454951e+01] [-1.17609461e-02 -3.07355561e-04 9.99930790e-01 -1.80717264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:80.71, Y:-12.75, Z:-1.80 [[ 9.72307955e-01 2.33434153e-01 1.12132194e-02 8.07120059e+01] [-2.33421772e-01 9.72372576e-01 -2.41880105e-03 -1.27500793e+01] [-1.14680578e-02 -2.65590033e-04 9.99934204e-01 -1.80191616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.74, Y:-12.75, Z:-1.81 [[ 9.72657907e-01 2.31958077e-01 1.14911342e-02 8.07395819e+01] [-2.31944977e-01 9.72725751e-01 -2.47824682e-03 -1.27546360e+01] [-1.17525715e-02 -2.54824484e-04 9.99930904e-01 -1.80808675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:-12.76, Z:-1.81 [[ 9.73641252e-01 2.27770681e-01 1.19678746e-02 8.07675377e+01] [-2.27756166e-01 9.73714779e-01 -2.58026580e-03 -1.27588027e+01] [-1.22410053e-02 -2.13504004e-04 9.99925053e-01 -1.80933787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.80, Y:-12.76, Z:-1.81 [[ 9.74268935e-01 2.25066101e-01 1.20537180e-02 8.07951847e+01] [-2.25051178e-01 9.74343480e-01 -2.59802359e-03 -1.27647950e+01] [-1.23291885e-02 -1.81529754e-04 9.99923976e-01 -1.81015857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.82, Y:-12.77, Z:-1.81 [[ 9.74941758e-01 2.22142338e-01 1.18890741e-02 8.08224071e+01] [-2.22127612e-01 9.75014236e-01 -2.56182773e-03 -1.27700376e+01] [-1.21611069e-02 -1.43258805e-04 9.99926041e-01 -1.80996156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:-12.77, Z:-1.81 [[ 9.76256977e-01 2.16283309e-01 1.19935429e-02 8.08502056e+01] [-2.16267889e-01 9.76330643e-01 -2.58362406e-03 -1.27739212e+01] [-1.22684583e-02 -7.15372070e-05 9.99924737e-01 -1.81138731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:80.88, Y:-12.78, Z:-1.81 [[ 9.76913663e-01 2.13346058e-01 1.10975238e-02 8.08785355e+01] [-2.13332674e-01 9.76976693e-01 -2.38988318e-03 -1.27802792e+01] [-1.13518942e-02 -3.27548861e-05 9.99935565e-01 -1.80599049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.91, Y:-12.79, Z:-1.81 [[ 9.77420320e-01 2.11017096e-01 1.10137895e-02 8.09065434e+01] [-2.11003772e-01 9.77482371e-01 -2.37131373e-03 -1.27864668e+01] [-1.12661728e-02 -6.18090718e-06 9.99936535e-01 -1.81307175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.93, Y:-12.79, Z:-1.81 [[ 9.78186253e-01 2.07487771e-01 1.00239306e-02 8.09337363e+01] [-2.07476552e-01 9.78237611e-01 -2.15789209e-03 -1.27926087e+01] [-1.02535221e-02 3.10898196e-05 9.99947431e-01 -1.81379305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:-12.80, Z:-1.81 [[ 9.78420858e-01 2.06375289e-01 1.00928043e-02 8.09612467e+01] [-2.06363862e-01 9.78472911e-01 -2.17213477e-03 -1.27985430e+01] [-1.03238105e-02 4.24719012e-05 9.99946707e-01 -1.81387762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.99, Y:-12.80, Z:-1.81 [[ 9.78565261e-01 2.05672801e-01 1.04272813e-02 8.09891461e+01] [-2.05660573e-01 9.78620813e-01 -2.24325464e-03 -1.28042274e+01] [-1.06657310e-02 5.06904101e-05 9.99943118e-01 -1.81438693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.02, Y:-12.81, Z:-1.81 [[ 9.78499313e-01 2.05992287e-01 1.03088175e-02 8.10163404e+01] [-2.05980357e-01 9.78553614e-01 -2.21742449e-03 -1.28089181e+01] [-1.05445029e-02 4.63344470e-05 9.99944404e-01 -1.81461826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.04, Y:-12.81, Z:-1.82 [[ 9.78393950e-01 2.06500388e-01 1.01424472e-02 8.10432601e+01] [-2.06488874e-01 9.78446518e-01 -2.18095772e-03 -1.28140891e+01] [-1.03742108e-02 3.95333373e-05 9.99946186e-01 -1.81557560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.07, Y:-12.82, Z:-1.82 [[ 9.78061649e-01 2.08057875e-01 1.03600783e-02 8.10715077e+01] [-2.08045957e-01 9.78116517e-01 -2.22702627e-03 -1.28192010e+01] [-1.05967141e-02 2.27965808e-05 9.99943853e-01 -1.81621592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.10, Y:-12.82, Z:-1.82 [[ 9.77859391e-01 2.09014898e-01 1.01874379e-02 8.10987468e+01] [-2.09003430e-01 9.77912456e-01 -2.18952884e-03 -1.28242481e+01] [-1.04200666e-02 1.18418741e-05 9.99945710e-01 -1.81637609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.13, Y:-12.83, Z:-1.82 [[ 9.77676679e-01 2.09861566e-01 1.03166600e-02 8.11273769e+01] [-2.09849861e-01 9.77731110e-01 -2.21653046e-03 -1.28294143e+01] [-1.05520840e-02 2.10048185e-06 9.99944325e-01 -1.81735710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.16, Y:-12.83, Z:-1.82 [[ 9.77555041e-01 2.10439582e-01 1.00660002e-02 8.11550352e+01] [-2.10428473e-01 9.77606865e-01 -2.16232260e-03 -1.28338599e+01] [-1.02956291e-02 -4.38369111e-06 9.99946999e-01 -1.81829437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:81.18, Y:-12.84, Z:-1.82 [[ 9.77380324e-01 2.11285006e-01 9.29238805e-03 8.11835999e+01] [-2.11275582e-01 9.77424496e-01 -1.99557751e-03 -1.28374852e+01] [-9.50424332e-03 -1.28164941e-05 9.99954834e-01 -1.81942838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:81.21, Y:-12.84, Z:-1.82 [[ 9.77219838e-01 2.12041485e-01 8.93288111e-03 8.12101280e+01] [-2.12032807e-01 9.77260665e-01 -1.91853041e-03 -1.28424761e+01] [-9.13656138e-03 -1.92378715e-05 9.99958261e-01 -1.82014765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:81.24, Y:-12.85, Z:-1.82 [[ 9.76856674e-01 2.13683175e-01 9.51516918e-03 8.12380662e+01] [-2.13673420e-01 9.76903014e-01 -2.04215593e-03 -1.28463481e+01] [-9.73177181e-03 -3.82450932e-05 9.99952644e-01 -1.82012950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:81.26, Y:-12.85, Z:-1.82 [[ 9.76683741e-01 2.14442035e-01 1.01727166e-02 8.12644527e+01] [-2.14430932e-01 9.76736715e-01 -2.18272729e-03 -1.28505531e+01] [-1.04041343e-02 -4.95108545e-05 9.99945874e-01 -1.82073570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:-12.85, Z:-1.82 [[ 9.76492072e-01 2.15292908e-01 1.05923051e-02 8.12925179e+01] [-2.15280935e-01 9.76549517e-01 -2.27131741e-03 -1.28546928e+01] [-1.08329090e-02 -6.23979188e-05 9.99941320e-01 -1.82081630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:81.32, Y:-12.86, Z:-1.81 [[ 9.76199337e-01 2.16591522e-01 1.10890204e-02 8.13194149e+01] [-2.16578493e-01 9.76262314e-01 -2.37706680e-03 -1.28574044e+01] [-1.13406452e-02 -8.11522908e-05 9.99935690e-01 -1.81447489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.478623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:81.35, Y:-12.86, Z:-1.82 [[ 9.76034469e-01 2.17279872e-01 1.20902091e-02 8.13461593e+01] [-2.17264451e-01 9.76109342e-01 -2.59053893e-03 -1.28614802e+01] [-1.23642380e-02 -9.83173509e-05 9.99923555e-01 -1.82160135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:81.37, Y:-12.87, Z:-1.82 [[ 9.76011679e-01 2.17375495e-01 1.22104999e-02 8.13736795e+01] [-2.17359787e-01 9.76088051e-01 -2.61519854e-03 -1.28653897e+01] [-1.24870031e-02 -1.01607344e-04 9.99922029e-01 -1.82168195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.538623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:81.40, Y:-12.87, Z:-1.82 [[ 9.76010038e-01 2.17360221e-01 1.26071730e-02 8.14021231e+01] [-2.17343486e-01 9.76091452e-01 -2.69927746e-03 -1.28675555e+01] [-1.28924694e-02 -1.05565041e-04 9.99916883e-01 -1.82232661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:81.43, Y:-12.87, Z:-1.82 [[ 9.76202417e-01 2.16526498e-01 1.20464324e-02 8.14302967e+01] [-2.16511164e-01 9.76276737e-01 -2.57844414e-03 -1.28721316e+01] [-1.23189532e-02 -9.11037113e-05 9.99924115e-01 -1.81637907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.598623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:81.46, Y:-12.88, Z:-1.82 [[ 9.76763479e-01 2.13997778e-01 1.17497599e-02 8.14574517e+01] [-2.13983014e-01 9.76834145e-01 -2.51438918e-03 -1.28764064e+01] [-1.20156404e-02 -5.82855223e-05 9.99927808e-01 -1.81864878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62862385300001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:81.49, Y:-12.88, Z:-1.82 [[ 9.76775196e-01 2.13944273e-01 1.17500767e-02 8.14853416e+01] [-2.13929523e-01 9.76845865e-01 -2.51290760e-03 -1.28822327e+01] [-1.20156361e-02 -5.91424974e-05 9.99927808e-01 -1.81919854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65862385300001 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:81.51, Y:-12.89, Z:-1.83 [[ 9.77116180e-01 2.12378477e-01 1.18047721e-02 8.15132612e+01] [-2.12363482e-01 9.77187485e-01 -2.52400365e-03 -1.28870160e+01] [-1.20715196e-02 -4.06577112e-05 9.99927136e-01 -1.82546241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68862385300001 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:81.54, Y:-12.89, Z:-1.83 [[ 9.77525186e-01 2.10518890e-01 1.12386714e-02 8.15406515e+01] [-2.10505184e-01 9.77589790e-01 -2.40225553e-03 -1.28920179e+01] [-1.14925306e-02 -1.75333147e-05 9.99933959e-01 -1.82636287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71862385300001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:81.57, Y:-12.90, Z:-1.83 [[ 9.78342693e-01 2.06734394e-01 1.03182374e-02 8.15672749e+01] [-2.06722636e-01 9.78397102e-01 -2.20500582e-03 -1.28962134e+01] [-1.05511841e-02 2.42381052e-05 9.99944334e-01 -1.82715235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74862385300001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:81.59, Y:-12.90, Z:-1.82 [[ 9.78814807e-01 2.04503114e-01 1.00024439e-02 8.15946469e+01] [-2.04491957e-01 9.78865912e-01 -2.13666797e-03 -1.29007965e+01] [-1.02280066e-02 4.59829252e-05 9.99947692e-01 -1.82252310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.778623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:81.62, Y:-12.91, Z:-1.83 [[ 9.79111564e-01 2.03054159e-01 1.04667511e-02 8.16219873e+01] [-2.03041867e-01 9.79167506e-01 -2.23508843e-03 -1.29058640e+01] [-1.07025466e-02 6.32122400e-05 9.99942724e-01 -1.82857582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:81.65, Y:-12.91, Z:-1.83 [[ 9.79708962e-01 2.00153560e-01 1.04355830e-02 8.16502970e+01] [-2.00141185e-01 9.79764535e-01 -2.22758014e-03 -1.29122992e+01] [-1.06702722e-02 9.37902785e-05 9.99943067e-01 -1.82921857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.838623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:81.68, Y:-12.92, Z:-1.83 [[ 9.79893062e-01 1.99236266e-01 1.07003137e-02 8.16778230e+01] [-1.99223206e-01 9.79951478e-01 -2.28367130e-03 -1.29184947e+01] [-1.09407783e-02 1.06002870e-04 9.99940142e-01 -1.82883471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.868623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:81.71, Y:-12.92, Z:-1.83 [[ 9.80131863e-01 1.98037114e-01 1.10829681e-02 8.17057753e+01] [-1.98023037e-01 9.80194515e-01 -2.36440501e-03 -1.29246306e+01] [-1.13317044e-02 1.22745696e-04 9.99935787e-01 -1.82939184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.898623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:81.73, Y:-12.93, Z:-1.82 [[ 9.80510719e-01 1.96137594e-01 1.13478402e-02 8.17333249e+01] [-1.96122714e-01 9.80576373e-01 -2.42045413e-03 -1.29309021e+01] [-1.16021660e-02 1.47712013e-04 9.99932682e-01 -1.82402391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928623853 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:81.76, Y:-12.94, Z:-1.82 [[ 9.80621861e-01 1.95569999e-01 1.15386783e-02 8.17615994e+01] [-1.95554586e-01 9.80689732e-01 -2.46025777e-03 -1.29366973e+01] [-1.17970159e-02 1.56141101e-04 9.99930401e-01 -1.82343226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.958623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:81.79, Y:-12.94, Z:-1.83 [[ 9.80518316e-01 1.96066745e-01 1.19022279e-02 8.17890795e+01] [-1.96050388e-01 9.80590540e-01 -2.53724515e-03 -1.29428549e+01] [-1.21686815e-02 1.54378944e-04 9.99925947e-01 -1.82982593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:81.82, Y:-12.95, Z:-1.83 [[ 9.80368621e-01 1.96810046e-01 1.19655098e-02 8.18169842e+01] [-1.96793580e-01 9.80441627e-01 -2.54993219e-03 -1.29492234e+01] [-1.22333362e-02 1.45137990e-04 9.99925159e-01 -1.83041883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01862385300001 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:81.84, Y:-12.95, Z:-1.83 [[ 9.80173721e-01 1.97775118e-01 1.20199424e-02 8.18439136e+01] [-1.97758580e-01 9.80247410e-01 -2.56103418e-03 -1.29549324e+01] [-1.22890263e-02 1.33211650e-04 9.99924478e-01 -1.83092410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04862385300001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:81.87, Y:-12.96, Z:-1.83 [[ 9.79928297e-01 1.98990065e-01 1.19785704e-02 8.18720636e+01] [-1.98973744e-01 9.80001500e-01 -2.55126995e-03 -1.29607260e+01] [-1.22466944e-02 1.16640613e-04 9.99925000e-01 -1.83171492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07862385300001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:81.90, Y:-12.97, Z:-1.83 [[ 9.79430989e-01 2.01485035e-01 1.08958142e-02 8.18994698e+01] [-2.01471690e-01 9.79491590e-01 -2.32029089e-03 -1.29650133e+01] [-1.11398623e-02 7.73666955e-05 9.99937947e-01 -1.83234326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10862385300001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:81.93, Y:-12.97, Z:-1.83 [[ 9.79106614e-01 2.03078070e-01 1.04659248e-02 8.19271207e+01] [-2.03065853e-01 9.79162547e-01 -2.22820849e-03 -1.29706241e+01] [-1.07003418e-02 5.63817302e-05 9.99942748e-01 -1.83334205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13862385300001 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:81.96, Y:-12.98, Z:-1.83 [[ 9.78812710e-01 2.04492501e-01 1.04161472e-02 8.19555995e+01] [-2.04480491e-01 9.78868130e-01 -2.21666794e-03 -1.29763788e+01] [-1.06493265e-02 3.98038495e-05 9.99943294e-01 -1.83384313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168623853 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:81.98, Y:-12.98, Z:-1.83 [[ 9.78256043e-01 2.07138121e-01 1.04361113e-02 8.19826291e+01] [-2.07126217e-01 9.78311708e-01 -2.22070092e-03 -1.29815041e+01] [-1.06697617e-02 1.08218285e-05 9.99943076e-01 -1.82900784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.198623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:82.01, Y:-12.99, Z:-1.83 [[ 9.77950111e-01 2.08564538e-01 1.06964383e-02 8.20085644e+01] [-2.08552129e-01 9.78008606e-01 -2.27508969e-03 -1.29865116e+01] [-1.09357117e-02 -5.84076643e-06 9.99940203e-01 -1.83457478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:82.04, Y:-12.99, Z:-1.83 [[ 9.77706600e-01 2.09714940e-01 1.04617155e-02 8.20365156e+01] [-2.09703146e-01 9.77762570e-01 -2.22414131e-03 -1.29916297e+01] [-1.06955095e-02 -1.92970160e-05 9.99942801e-01 -1.82941828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.258623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:82.06, Y:-12.99, Z:-1.83 [[ 9.77079725e-01 2.12592638e-01 1.09353389e-02 8.20634274e+01] [-2.12579941e-01 9.77140915e-01 -2.32408684e-03 -1.29949332e+01] [-1.11794508e-02 -5.38155778e-05 9.99937507e-01 -1.83491862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:82.09, Y:-13.00, Z:-1.84 [[ 9.76782212e-01 2.13951681e-01 1.10086147e-02 8.20910666e+01] [-2.13938910e-01 9.76844242e-01 -2.33864397e-03 -1.29992373e+01] [-1.12540587e-02 -7.08252061e-05 9.99936669e-01 -1.83601983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.318623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:82.12, Y:-13.00, Z:-1.84 [[ 9.76497483e-01 2.15265483e-01 1.06506803e-02 8.21180152e+01] [-2.15253614e-01 9.76555562e-01 -2.26199702e-03 -1.30035756e+01] [-1.08879109e-02 -8.37630258e-05 9.99940721e-01 -1.83631250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:82.15, Y:-13.01, Z:-1.84 [[ 9.75977126e-01 2.17638350e-01 1.01093274e-02 8.21464567e+01] [-2.17627793e-01 9.76029476e-01 -2.14621426e-03 -1.30065288e+01] [-1.03341000e-02 -1.05414575e-04 9.99946596e-01 -1.83722973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:82.17, Y:-13.01, Z:-1.84 [[ 9.75777617e-01 2.18540555e-01 9.90289524e-03 8.21728647e+01] [-2.18530477e-01 9.75827860e-01 -2.10180036e-03 -1.30098822e+01] [-1.01228497e-02 -1.13194675e-04 9.99948756e-01 -1.83769447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40862385300001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:82.20, Y:-13.01, Z:-1.84 [[ 9.75596659e-01 2.19338313e-01 1.00927762e-02 8.22004615e+01] [-2.19327898e-01 9.75648855e-01 -2.14106531e-03 -1.30139265e+01] [-1.03166232e-02 -1.24811219e-04 9.99946774e-01 -1.83824867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:82.23, Y:-13.02, Z:-1.84 [[ 9.75341148e-01 2.20410056e-01 1.13600879e-02 8.22287070e+01] [-2.20396945e-01 9.75407291e-01 -2.40904060e-03 -1.30152534e+01] [-1.16116894e-02 -1.54092246e-04 9.99932570e-01 -1.83714486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46862385300001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:82.26, Y:-13.02, Z:-1.84 [[ 9.75282070e-01 2.20621904e-01 1.22825061e-02 8.22553668e+01] [-2.20606606e-01 9.75359393e-01 -2.60368254e-03 -1.30175025e+01] [-1.25542871e-02 -1.70277092e-04 9.99921177e-01 -1.83720931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:82.28, Y:-13.02, Z:-1.84 [[ 9.75235357e-01 2.20794858e-01 1.28697212e-02 8.22827168e+01] [-2.20778093e-01 9.75320254e-01 -2.72693043e-03 -1.30199079e+01] [-1.31541919e-02 -1.81953519e-04 9.99913463e-01 -1.83730219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:82.31, Y:-13.02, Z:-1.84 [[ 9.75225189e-01 2.20808184e-01 1.34005928e-02 8.23111038e+01] [-2.20790026e-01 9.75317235e-01 -2.83813946e-03 -1.30226271e+01] [-1.36965136e-02 -1.90892152e-04 9.99906180e-01 -1.83827999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.558623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:82.34, Y:-13.02, Z:-1.84 [[ 9.75425481e-01 2.19896497e-01 1.38080222e-02 8.23383744e+01] [-2.19877141e-01 9.75523191e-01 -2.92342985e-03 -1.30227224e+01] [-1.41128978e-02 -1.84480467e-04 9.99900391e-01 -1.83872660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:82.37, Y:-13.03, Z:-1.84 [[ 9.75617142e-01 2.19050012e-01 1.37216986e-02 8.23660656e+01] [-2.19030830e-01 9.75713617e-01 -2.90392737e-03 -1.30262444e+01] [-1.40245535e-02 -1.72353723e-04 9.99901636e-01 -1.83960641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.618623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:82.39, Y:-13.03, Z:-1.84 [[ 9.75925080e-01 2.17709291e-01 1.31492306e-02 8.23934670e+01] [-2.17691567e-01 9.76013649e-01 -2.78188091e-03 -1.30295340e+01] [-1.34394698e-02 -1.47569254e-04 9.99909675e-01 -1.84059117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:82.42, Y:-13.03, Z:-1.84 [[ 9.76628654e-01 2.14630108e-01 1.14187983e-02 8.24218921e+01] [-2.14616539e-01 9.76695402e-01 -2.41513515e-03 -1.30306597e+01] [-1.16710485e-02 -9.19727777e-05 9.99931887e-01 -1.84144118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.678623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:82.45, Y:-13.03, Z:-1.84 [[ 9.77032348e-01 2.12812485e-01 1.08920551e-02 8.24498781e+01] [-2.12800035e-01 9.77093057e-01 -2.30297136e-03 -1.30335624e+01] [-1.11326525e-02 -6.77522032e-05 9.99938028e-01 -1.84206982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708623853 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:82.48, Y:-13.03, Z:-1.84 [[ 9.77841897e-01 2.09066507e-01 1.07898050e-02 8.24782083e+01] [-2.09054070e-01 9.77901424e-01 -2.28054697e-03 -1.30327617e+01] [-1.10281517e-02 -2.56382814e-05 9.99939188e-01 -1.83964991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.738623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:82.50, Y:-13.04, Z:-1.84 [[ 9.78237712e-01 2.07195595e-01 1.09984057e-02 8.25047044e+01] [-2.07182563e-01 9.78299538e-01 -2.32387158e-03 -1.30358148e+01] [-1.12412311e-02 -5.37905893e-06 9.99936815e-01 -1.83778846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76862385300001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:82.53, Y:-13.04, Z:-1.84 [[ 9.78640279e-01 2.05243638e-01 1.17581482e-02 8.25320290e+01] [-2.05228617e-01 9.78710912e-01 -2.48315544e-03 -1.30392456e+01] [-1.20174798e-02 1.70074302e-05 9.99927787e-01 -1.84362169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79862385300001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:82.56, Y:-13.04, Z:-1.84 [[ 9.79466003e-01 2.01198767e-01 1.28609677e-02 8.25591340e+01] [-2.01180460e-01 9.79550433e-01 -2.71503295e-03 -1.30423054e+01] [-1.31442278e-02 7.19070803e-05 9.99913608e-01 -1.84343992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:82.59, Y:-13.05, Z:-1.84 [[ 9.79941053e-01 1.98855272e-01 1.31192412e-02 8.25867574e+01] [-1.98836029e-01 9.80028862e-01 -2.76831464e-03 -1.30462003e+01] [-1.34077290e-02 1.04207332e-04 9.99910107e-01 -1.84339813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:82.61, Y:-13.05, Z:-1.84 [[ 9.80361064e-01 1.96745000e-01 1.35494861e-02 8.26144807e+01] [-1.96724287e-01 9.80454683e-01 -2.85805155e-03 -1.30499152e+01] [-1.38469645e-02 1.36409462e-04 9.99904117e-01 -1.84465376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88862385300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:82.64, Y:-13.05, Z:-1.84 [[ 9.81187016e-01 1.92632277e-01 1.28392102e-02 8.26412947e+01] [-1.92613337e-01 9.81270998e-01 -2.70743091e-03 -1.30516951e+01] [-1.31202832e-02 1.83492937e-04 9.99913909e-01 -1.84224924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.918623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:82.67, Y:-13.06, Z:-1.85 [[ 9.81563056e-01 1.90728710e-01 1.25110829e-02 8.26685274e+01] [-1.90710586e-01 9.81642765e-01 -2.63712693e-03 -1.30561948e+01] [-1.27843898e-02 2.02510433e-04 9.99918256e-01 -1.84649535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948623853 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:82.70, Y:-13.06, Z:-1.85 [[ 9.81921358e-01 1.88903813e-01 1.20746227e-02 8.26960490e+01] [-1.88886802e-01 9.81995571e-01 -2.54434057e-03 -1.30610087e+01] [-1.23378616e-02 2.17605478e-04 9.99923862e-01 -1.84725044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.978623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:82.72, Y:-13.07, Z:-1.85 [[ 9.82469946e-01 1.86071033e-01 1.14182551e-02 8.27239929e+01] [-1.86055639e-01 9.82536266e-01 -2.40525204e-03 -1.30655227e+01] [-1.16663975e-02 2.38657086e-04 9.99931917e-01 -1.84828551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:82.75, Y:-13.07, Z:-1.85 [[ 9.82646119e-01 1.85164486e-01 1.09872018e-02 8.27503398e+01] [-1.85150184e-01 9.82707513e-01 -2.31376860e-03 -1.30701310e+01] [-1.12256336e-02 2.39333285e-04 9.99936962e-01 -1.84876312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.038623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:82.78, Y:-13.07, Z:-1.85 [[ 9.82767339e-01 1.84543625e-01 1.05834245e-02 8.27770976e+01] [-1.84530328e-01 9.82824295e-01 -2.22783891e-03 -1.30732778e+01] [-1.08127801e-02 2.36484530e-04 9.99941512e-01 -1.84900903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:82.80, Y:-13.08, Z:-1.85 [[ 9.82758508e-01 1.84599522e-01 1.04273965e-02 8.28047589e+01] [-1.84586628e-01 9.82813799e-01 -2.19405433e-03 -1.30782186e+01] [-1.06532105e-02 2.31467601e-04 9.99943226e-01 -1.84940910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.098623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:82.83, Y:-13.08, Z:-1.85 [[ 9.82717931e-01 1.84800782e-01 1.06836047e-02 8.28311123e+01] [-1.84787266e-01 9.82775975e-01 -2.24724079e-03 -1.30837658e+01] [-1.09148818e-02 2.34209712e-04 9.99940403e-01 -1.85068665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12862385300001 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:82.86, Y:-13.09, Z:-1.85 [[ 9.82669283e-01 1.85048613e-01 1.08669736e-02 8.28571374e+01] [-1.85034655e-01 9.82729340e-01 -2.28482401e-03 -1.30891064e+01] [-1.11020973e-02 2.34459662e-04 9.99938342e-01 -1.85056638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15862385300001 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:82.89, Y:-13.09, Z:-1.85 [[ 9.82506405e-01 1.85851109e-01 1.18545474e-02 8.28850509e+01] [-1.85834572e-01 9.82577888e-01 -2.49129625e-03 -1.30938550e+01] [-1.21110263e-02 2.44729789e-04 9.99926629e-01 -1.85125042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18862385300001 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:82.91, Y:-13.10, Z:-1.85 [[ 9.82532557e-01 1.85707948e-01 1.19303182e-02 8.29118351e+01] [-1.85691195e-01 9.82604955e-01 -2.50667030e-03 -1.30983750e+01] [-1.21882983e-02 2.47530142e-04 9.99925689e-01 -1.85171734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21862385300001 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:82.94, Y:-13.10, Z:-1.85 [[ 9.82504553e-01 1.85861811e-01 1.18402304e-02 8.29389157e+01] [-1.85845344e-01 9.82575864e-01 -2.48586001e-03 -1.31038317e+01] [-1.20959510e-02 2.41917089e-04 9.99926812e-01 -1.85251924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:82.97, Y:-13.11, Z:-1.85 [[ 9.82437050e-01 1.86214674e-01 1.18970092e-02 8.29667200e+01] [-1.86198085e-01 9.82509053e-01 -2.49691609e-03 -1.31095468e+01] [-1.21538817e-02 2.37862549e-04 9.99926111e-01 -1.85301379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.278623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:82.99, Y:-13.12, Z:-1.85 [[ 9.82395132e-01 1.86441067e-01 1.18124198e-02 8.29932616e+01] [-1.86424738e-01 9.82466119e-01 -2.47838949e-03 -1.31152888e+01] [-1.20673758e-02 2.32630502e-04 9.99927160e-01 -1.85359191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:83.02, Y:-13.12, Z:-1.85 [[ 9.82190681e-01 1.87460917e-01 1.26440358e-02 8.30205904e+01] [-1.87442309e-01 9.82272034e-01 -2.65160909e-03 -1.31207476e+01] [-1.29169559e-02 2.34358456e-04 9.99916545e-01 -1.85358936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.338623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:83.05, Y:-13.13, Z:-1.85 [[ 9.82041485e-01 1.88206669e-01 1.31442442e-02 8.30483313e+01] [-1.88186640e-01 9.82129419e-01 -2.75549893e-03 -1.31254207e+01] [-1.34279522e-02 2.32443115e-04 9.99909814e-01 -1.85358690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.368623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:83.08, Y:-13.13, Z:-1.85 [[ 9.81902568e-01 1.88906059e-01 1.34850761e-02 8.30759309e+01] [-1.88885058e-01 9.81995137e-01 -2.82593878e-03 -1.31303959e+01] [-1.37761161e-02 2.27667165e-04 9.99905079e-01 -1.85377915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.398623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:83.10, Y:-13.14, Z:-1.85 [[ 9.81602875e-01 1.90390048e-01 1.44022511e-02 8.31033111e+01] [-1.90366268e-01 9.81708501e-01 -3.01701513e-03 -1.31365679e+01] [-1.47132220e-02 2.19807936e-04 9.99891731e-01 -1.85470323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:83.13, Y:-13.14, Z:-1.86 [[ 9.81538539e-01 1.90707011e-01 1.45922031e-02 8.31301077e+01] [-1.90682651e-01 9.81646978e-01 -3.05578242e-03 -1.31426621e+01] [-1.49071512e-02 2.16888245e-04 9.99888859e-01 -1.85507832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.458623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:83.16, Y:-13.15, Z:-1.86 [[ 9.81488804e-01 1.90946668e-01 1.48019555e-02 8.31577666e+01] [-1.90921650e-01 9.81600389e-01 -3.09838570e-03 -1.31486571e+01] [-1.51212317e-02 2.15017109e-04 9.99885645e-01 -1.85535496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:83.19, Y:-13.15, Z:-1.86 [[ 9.81514181e-01 1.90804766e-01 1.49483468e-02 8.31854330e+01] [-1.90779250e-01 9.81627981e-01 -3.12795234e-03 -1.31543009e+01] [-1.52705437e-02 2.18295199e-04 9.99883375e-01 -1.85574003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51862385300001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:83.21, Y:-13.16, Z:-1.86 [[ 9.81720502e-01 1.89734720e-01 1.50196947e-02 8.32124507e+01] [-1.89708851e-01 9.81835363e-01 -3.14182134e-03 -1.31611759e+01] [-1.53429800e-02 2.35021397e-04 9.99882262e-01 -1.85697068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54862385300001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:83.24, Y:-13.17, Z:-1.86 [[ 9.81731594e-01 1.89677302e-01 1.50199253e-02 8.32403605e+01] [-1.89651443e-01 9.81846457e-01 -3.14071861e-03 -1.31668844e+01] [-1.53429835e-02 2.34792176e-04 9.99882262e-01 -1.85752049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:83.27, Y:-13.17, Z:-1.86 [[ 9.81837628e-01 1.89126312e-01 1.50369682e-02 8.32663780e+01] [-1.89100342e-01 9.81952738e-01 -3.14345567e-03 -1.31732485e+01] [-1.53601023e-02 2.42867219e-04 9.99881997e-01 -1.85802575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60862385300001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:83.29, Y:-13.18, Z:-1.86 [[ 9.81950364e-01 1.88556895e-01 1.48249881e-02 8.32929267e+01] [-1.88531607e-01 9.82062236e-01 -3.09788752e-03 -1.31800127e+01] [-1.51431891e-02 2.46992947e-04 9.99885305e-01 -1.85839804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63862385300001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:83.32, Y:-13.19, Z:-1.85 [[ 9.81940559e-01 1.88630200e-01 1.45391627e-02 8.33199777e+01] [-1.88605903e-01 9.82048161e-01 -3.03696014e-03 -1.31863858e+01] [-1.48510204e-02 2.39942422e-04 9.99889689e-01 -1.85291276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:83.35, Y:-13.19, Z:-1.86 [[ 9.81900500e-01 1.88816231e-01 1.48269731e-02 8.33461115e+01] [-1.88790997e-01 9.82012410e-01 -3.09625045e-03 -1.31930773e+01] [-1.51448940e-02 2.41010827e-04 9.99885280e-01 -1.85971719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.698623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:83.37, Y:-13.20, Z:-1.86 [[ 9.81711092e-01 1.89811751e-01 1.46570969e-02 8.33723962e+01] [-1.89787230e-01 9.81820478e-01 -3.05898392e-03 -1.32003191e+01] [-1.49712690e-02 2.21308622e-04 9.99887900e-01 -1.85994058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:83.40, Y:-13.21, Z:-1.86 [[ 9.81569182e-01 1.90557954e-01 1.44777916e-02 8.33995443e+01] [-1.90534139e-01 9.81675926e-01 -3.01958175e-03 -1.32060230e+01] [-1.47879048e-02 2.05414829e-04 9.99890632e-01 -1.86049367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.758623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:83.43, Y:-13.21, Z:-1.86 [[ 9.81400236e-01 1.91444777e-01 1.42293755e-02 8.34266665e+01] [-1.91421879e-01 9.81503368e-01 -2.96685553e-03 -1.32112830e+01] [-1.45341689e-02 1.87858937e-04 9.99894356e-01 -1.86145363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:83.45, Y:-13.22, Z:-1.86 [[ 9.80982183e-01 1.93578697e-01 1.41860961e-02 8.34525169e+01] [-1.93556175e-01 9.81084738e-01 -2.95684368e-03 -1.32175529e+01] [-1.44901443e-02 1.54804462e-04 9.99895000e-01 -1.86225936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.818623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:83.48, Y:-13.22, Z:-1.86 [[ 9.80760735e-01 1.94686292e-01 1.43397814e-02 8.34795974e+01] [-1.94663417e-01 9.80865551e-01 -2.98757882e-03 -1.32236020e+01] [-1.46470382e-02 1.38669164e-04 9.99892717e-01 -1.86254110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:83.51, Y:-13.23, Z:-1.86 [[ 9.80480002e-01 1.96063063e-01 1.47729910e-02 8.35060976e+01] [-1.96038957e-01 9.80591281e-01 -3.07673850e-03 -1.32295756e+01] [-1.50895009e-02 1.20598817e-04 9.99886140e-01 -1.86328405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.53, Y:-13.24, Z:-1.86 [[ 9.79930303e-01 1.98737120e-01 1.54970251e-02 8.35318895e+01] [-1.98710948e-01 9.80052830e-01 -3.22623877e-03 -1.32360939e+01] [-1.58290767e-02 8.20605850e-05 9.99874709e-01 -1.86384069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.56, Y:-13.24, Z:-1.86 [[ 9.79684379e-01 1.99949179e-01 1.54545483e-02 8.35589853e+01] [-1.99923335e-01 9.79806268e-01 -3.21527599e-03 -1.32418986e+01] [-1.57853551e-02 6.02308393e-05 9.99875402e-01 -1.86442619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.59, Y:-13.25, Z:-1.87 [[ 9.79487430e-01 2.00931431e-01 1.51965526e-02 8.35868424e+01] [-2.00906576e-01 9.79605307e-01 -3.16063663e-03 -1.32477252e+01] [-1.55216948e-02 4.27164998e-05 9.99879530e-01 -1.86502232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.61, Y:-13.25, Z:-1.87 [[ 9.79091883e-01 2.02865617e-01 1.49875527e-02 8.36141320e+01] [-2.02841684e-01 9.79206588e-01 -3.11609590e-03 -1.32527531e+01] [-1.53080591e-02 1.08437563e-05 9.99882825e-01 -1.86612768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99862385300001 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:83.64, Y:-13.26, Z:-1.87 [[ 9.78925985e-01 2.03661129e-01 1.50353057e-02 8.36405230e+01] [-2.03637153e-01 9.79041442e-01 -3.12497460e-03 -1.32582088e+01] [-1.53566232e-02 -2.62800113e-06 9.99882080e-01 -1.86678013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028623853 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:83.67, Y:-13.27, Z:-1.87 [[ 9.78787452e-01 2.04298006e-01 1.54093370e-02 8.36677378e+01] [-2.04272923e-01 9.78908742e-01 -3.20132829e-03 -1.32654485e+01] [-1.57383597e-02 -1.42903530e-05 9.99876144e-01 -1.86782230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.058623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:83.69, Y:-13.27, Z:-1.87 [[ 9.78826665e-01 2.04111670e-01 1.53878369e-02 8.36947109e+01] [-2.04086651e-01 9.78947611e-01 -3.19577709e-03 -1.32711757e+01] [-1.57161816e-02 -1.23402712e-05 9.99876493e-01 -1.86844656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.72, Y:-13.28, Z:-1.87 [[ 9.78903983e-01 2.03756059e-01 1.51809191e-02 8.37217390e+01] [-2.03731679e-01 9.79021689e-01 -3.15192514e-03 -1.32759569e+01] [-1.55046729e-02 -7.40206752e-06 9.99879795e-01 -1.86897796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.118623853 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:83.75, Y:-13.28, Z:-1.86 [[ 9.79022798e-01 2.03251411e-01 1.42556788e-02 8.37491794e+01] [-2.03229888e-01 9.79126582e-01 -2.95781333e-03 -1.32809944e+01] [-1.45592938e-02 -1.41331219e-06 9.99894008e-01 -1.86250481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:83.78, Y:-13.29, Z:-1.87 [[ 9.79311753e-01 2.01788634e-01 1.51603974e-02 8.37750895e+01] [-2.01764135e-01 9.79429092e-01 -3.14437101e-03 -1.32874034e+01] [-1.54830326e-02 2.04950096e-05 9.99880130e-01 -1.87042570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.178623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:83.80, Y:-13.29, Z:-1.87 [[ 9.79533396e-01 2.00690028e-01 1.54220328e-02 8.38017158e+01] [-2.00664561e-01 9.79654792e-01 -3.19728784e-03 -1.32936697e+01] [-1.57499322e-02 3.71947697e-05 9.99875961e-01 -1.87080128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:83.83, Y:-13.30, Z:-1.87 [[ 9.79824417e-01 1.99252385e-01 1.55755773e-02 8.38284398e+01] [-1.99226245e-01 9.79948205e-01 -3.22793981e-03 -1.32999343e+01] [-1.59064337e-02 5.97504585e-05 9.99873483e-01 -1.87181051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.238623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:83.86, Y:-13.31, Z:-1.87 [[ 9.80425322e-01 1.96242127e-01 1.59755031e-02 8.38559209e+01] [-1.96214265e-01 9.80555463e-01 -3.30853851e-03 -1.33076965e+01] [-1.63141414e-02 1.09153348e-04 9.99866910e-01 -1.87237635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:83.88, Y:-13.31, Z:-1.87 [[ 9.80678400e-01 1.94948339e-01 1.62794676e-02 8.38827254e+01] [-1.94919249e-01 9.80813503e-01 -3.37028943e-03 -1.33142100e+01] [-1.66241540e-02 1.31988442e-04 9.99861800e-01 -1.87315535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:83.91, Y:-13.32, Z:-1.87 [[ 9.81002549e-01 1.93283868e-01 1.65935577e-02 8.39102657e+01] [-1.93253426e-01 9.81142864e-01 -3.43410848e-03 -1.33217235e+01] [-1.69444085e-02 1.62107300e-04 9.99856420e-01 -1.87343596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:83.94, Y:-13.33, Z:-1.87 [[ 9.81081957e-01 1.92854413e-01 1.68928683e-02 8.39375813e+01] [-1.92822822e-01 9.81227367e-01 -3.49476566e-03 -1.33284501e+01] [-1.72497257e-02 1.71320996e-04 9.99851198e-01 -1.87391484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:83.96, Y:-13.34, Z:-1.87 [[ 9.81099002e-01 1.92774076e-01 1.68197573e-02 8.39636084e+01] [-1.92742763e-01 9.81243154e-01 -3.47861831e-03 -1.33353759e+01] [-1.71748591e-02 1.70982458e-04 9.99852487e-01 -1.87422754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:83.99, Y:-13.34, Z:-1.88 [[ 9.80956746e-01 1.93503439e-01 1.67416240e-02 8.39901419e+01] [-1.93472549e-01 9.81099584e-01 -3.46091589e-03 -1.33436494e+01] [-1.70948995e-02 1.55964111e-04 9.99853859e-01 -1.87517218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.418623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.02, Y:-13.35, Z:-1.88 [[ 9.80812356e-01 1.94224434e-01 1.68520415e-02 8.40170339e+01] [-1.94193262e-01 9.80957108e-01 -3.48256984e-03 -1.33505175e+01] [-1.72075301e-02 1.43194603e-04 9.99851929e-01 -1.87614176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.04, Y:-13.36, Z:-1.88 [[ 9.80647576e-01 1.95063185e-01 1.67536718e-02 8.40438563e+01] [-1.95032519e-01 9.80790670e-01 -3.46102455e-03 -1.33571486e+01] [-1.71069635e-02 1.26534523e-04 9.99853657e-01 -1.87658648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.478623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:84.07, Y:-13.36, Z:-1.88 [[ 9.80459038e-01 1.96028145e-01 1.65239399e-02 8.40702456e+01] [-1.95998470e-01 9.80598264e-01 -3.41242798e-03 -1.33632205e+01] [-1.68722787e-02 1.07078907e-04 9.99857647e-01 -1.87742884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.10, Y:-13.37, Z:-1.88 [[ 9.79975593e-01 1.98468894e-01 1.60603839e-02 8.40973141e+01] [-1.98441219e-01 9.80107185e-01 -3.31490024e-03 -1.33692382e+01] [-1.63988023e-02 6.14791770e-05 9.99865529e-01 -1.87801910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.538623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:84.12, Y:-13.38, Z:-1.88 [[ 9.79770071e-01 1.99477120e-01 1.61086095e-02 8.41237348e+01] [-1.99449434e-01 9.79902483e-01 -3.32366688e-03 -1.33755070e+01] [-1.64478620e-02 4.35762870e-05 9.99864724e-01 -1.87900428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:84.15, Y:-13.38, Z:-1.88 [[ 9.79590628e-01 2.00314344e-01 1.66242376e-02 8.41503514e+01] [-2.00285003e-01 9.79731679e-01 -3.42850899e-03 -1.33833801e+01] [-1.69740717e-02 2.89498012e-05 9.99855930e-01 -1.87974270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.598623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.18, Y:-13.39, Z:-1.88 [[ 9.79527970e-01 2.00583992e-01 1.70592807e-02 8.41767221e+01] [-2.00553159e-01 9.79676509e-01 -3.51691246e-03 -1.33896648e+01] [-1.74180129e-02 2.36214939e-05 9.99848295e-01 -1.88040318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.20, Y:-13.40, Z:-1.88 [[ 9.79491862e-01 2.00725717e-01 1.74608002e-02 8.42041569e+01] [-2.00693462e-01 9.79647481e-01 -3.59835155e-03 -1.33959783e+01] [-1.78277106e-02 2.02876233e-05 9.99841074e-01 -1.88081475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.23, Y:-13.40, Z:-1.88 [[ 9.79375238e-01 2.01288408e-01 1.75248505e-02 8.42317644e+01] [-2.01256030e-01 9.79532019e-01 -3.61025447e-03 -1.34028725e+01] [-1.78928545e-02 8.81200861e-06 9.99839910e-01 -1.88106418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:84.26, Y:-13.41, Z:-1.88 [[ 9.79336511e-01 2.01547734e-01 1.66885852e-02 8.42589308e+01] [-2.01518429e-01 9.79478693e-01 -3.43682198e-03 -1.34086589e+01] [-1.70387973e-02 2.74775878e-06 9.99854829e-01 -1.87532387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.28, Y:-13.41, Z:-1.88 [[ 9.79208336e-01 2.02114016e-01 1.73481538e-02 8.42847798e+01] [-2.02082461e-01 9.79361999e-01 -3.57132089e-03 -1.34148916e+01] [-1.77119366e-02 -8.69043786e-06 9.99843131e-01 -1.88267684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.31, Y:-13.42, Z:-1.88 [[ 9.78905808e-01 2.03618805e-01 1.68166821e-02 8.43115684e+01] [-2.03589401e-01 9.79050244e-01 -3.46048227e-03 -1.34218611e+01] [-1.71689959e-02 -3.62120404e-05 9.99852601e-01 -1.88363757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.778623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.34, Y:-13.43, Z:-1.88 [[ 9.78768485e-01 2.04298419e-01 1.65652823e-02 8.43380861e+01] [-2.04270004e-01 9.78908654e-01 -3.40760528e-03 -1.34278096e+01] [-1.69120666e-02 -4.85336281e-05 9.99856980e-01 -1.88391992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:84.37, Y:-13.43, Z:-1.88 [[ 9.78657352e-01 2.04811326e-01 1.67960831e-02 8.43654723e+01] [-2.04782221e-01 9.78801470e-01 -3.45321513e-03 -1.34339242e+01] [-1.71472884e-02 -6.00248303e-05 9.99852973e-01 -1.88481250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.838623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.39, Y:-13.44, Z:-1.89 [[ 9.78419343e-01 2.06000728e-01 1.61024484e-02 8.43925310e+01] [-2.05974158e-01 9.78551835e-01 -3.30945327e-03 -1.34395793e+01] [-1.64388302e-02 -7.86551615e-05 9.99864870e-01 -1.88512963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.868623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.42, Y:-13.44, Z:-1.89 [[ 9.78320048e-01 2.06483987e-01 1.59451157e-02 8.44195520e+01] [-2.06458017e-01 9.78449976e-01 -3.27595709e-03 -1.34444291e+01] [-1.62779307e-02 -8.70624614e-05 9.99867502e-01 -1.88644021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.898623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.45, Y:-13.45, Z:-1.89 [[ 9.78117147e-01 2.07452442e-01 1.58218298e-02 8.44467172e+01] [-2.07427021e-01 9.78245099e-01 -3.24920834e-03 -1.34493885e+01] [-1.61516837e-02 -1.03768638e-04 9.99869548e-01 -1.88755751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.47, Y:-13.46, Z:-1.89 [[ 9.78090363e-01 2.07580994e-01 1.57915425e-02 8.44743215e+01] [-2.07555707e-01 9.78217828e-01 -3.24179625e-03 -1.34551731e+01] [-1.61205037e-02 -1.06855080e-04 9.99870051e-01 -1.88816358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.50, Y:-13.46, Z:-1.89 [[ 9.78039404e-01 2.07794000e-01 1.61424164e-02 8.45018229e+01] [-2.07767626e-01 9.78172603e-01 -3.31257527e-03 -1.34611631e+01] [-1.64784027e-02 -1.14042390e-04 9.99864215e-01 -1.88903777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.53, Y:-13.47, Z:-1.89 [[ 9.78083143e-01 2.07601854e-01 1.59635889e-02 8.45284090e+01] [-2.07576054e-01 9.78213401e-01 -3.27473325e-03 -1.34667045e+01] [-1.62956373e-02 -1.10697399e-04 9.99867211e-01 -1.88970520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.56, Y:-13.47, Z:-1.89 [[ 9.78165869e-01 2.07204837e-01 1.60526951e-02 8.45556101e+01] [-2.07178718e-01 9.78297575e-01 -3.29156927e-03 -1.34723836e+01] [-1.63863417e-02 -1.06076068e-04 9.99865729e-01 -1.89103514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04862385300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:84.58, Y:-13.48, Z:-1.89 [[ 9.78269191e-01 2.06736005e-01 1.57991628e-02 8.45818215e+01] [-2.06710662e-01 9.78396757e-01 -3.23846892e-03 -1.34780675e+01] [-1.61273578e-02 -9.77610346e-05 9.99869941e-01 -1.89144995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.61, Y:-13.48, Z:-1.89 [[ 9.78411135e-01 2.06048878e-01 1.59847177e-02 8.46089198e+01] [-2.06022867e-01 9.78541697e-01 -3.27506904e-03 -1.34838792e+01] [-1.63165371e-02 -8.88533499e-05 9.99866873e-01 -1.89271959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.64, Y:-13.49, Z:-1.89 [[ 9.78742277e-01 2.04510051e-01 1.54658811e-02 8.46351318e+01] [-2.04485525e-01 9.78864462e-01 -3.16779794e-03 -1.34906448e+01] [-1.57868479e-02 -6.20910449e-05 9.99875378e-01 -1.89344577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.66, Y:-13.50, Z:-1.89 [[ 9.78927569e-01 2.03662096e-01 1.49186193e-02 8.46617592e+01] [-2.03639202e-01 9.79041239e-01 -3.05405341e-03 -1.34964472e+01] [-1.52279384e-02 -4.83186463e-05 9.99884047e-01 -1.89416605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.69, Y:-13.50, Z:-1.90 [[ 9.79127987e-01 2.02723560e-01 1.45445373e-02 8.46892337e+01] [-2.02701714e-01 9.79236007e-01 -2.97624214e-03 -1.35027566e+01] [-1.48458890e-02 -3.40806485e-05 9.99889793e-01 -1.89530616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.198623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.72, Y:-13.51, Z:-1.90 [[ 9.79183076e-01 2.02468497e-01 1.43878614e-02 8.47155488e+01] [-2.02447107e-01 9.79288776e-01 -2.94317073e-03 -1.35083217e+01] [-1.46857706e-02 -3.08779535e-05 9.99892158e-01 -1.89623314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.74, Y:-13.51, Z:-1.90 [[ 9.79176596e-01 2.02550555e-01 1.36552584e-02 8.47432584e+01] [-2.02531312e-01 9.79271807e-01 -2.79211990e-03 -1.35148666e+01] [-1.39377550e-02 -3.16389407e-05 9.99902864e-01 -1.89658472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.258623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:84.77, Y:-13.52, Z:-1.90 [[ 9.79087706e-01 2.02993735e-01 1.34464571e-02 8.47710894e+01] [-2.02975131e-01 9.79180036e-01 -2.74846340e-03 -1.35205857e+01] [-1.37244232e-02 -3.83096779e-05 9.99905815e-01 -1.89721704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:84.80, Y:-13.53, Z:-1.90 [[ 9.78995875e-01 2.03433343e-01 1.34889177e-02 8.47988830e+01] [-2.03414677e-01 9.79088797e-01 -2.75615319e-03 -1.35259040e+01] [-1.37675416e-02 -4.55812207e-05 9.99905222e-01 -1.89748076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.318623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:84.83, Y:-13.53, Z:-1.89 [[ 9.78958115e-01 2.03611913e-01 1.35350432e-02 8.48259755e+01] [-2.03593148e-01 9.79051677e-01 -2.76470975e-03 -1.35302342e+01] [-1.38144346e-02 -4.91070116e-05 9.99904575e-01 -1.89208564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.85, Y:-13.54, Z:-1.90 [[ 9.78803893e-01 2.04312176e-01 1.41234971e-02 8.48524362e+01] [-2.04291842e-01 9.78905782e-01 -2.88316749e-03 -1.35357259e+01] [-1.44146392e-02 -6.32596830e-05 9.99896102e-01 -1.89890605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.88, Y:-13.54, Z:-1.90 [[ 9.78635472e-01 2.05098952e-01 1.43886615e-02 8.48800155e+01] [-2.05077950e-01 9.78741240e-01 -2.93606014e-03 -1.35399235e+01] [-1.46849592e-02 -7.74645975e-05 9.99892167e-01 -1.89955372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.91, Y:-13.54, Z:-1.90 [[ 9.78628825e-01 2.05126226e-01 1.44517779e-02 8.49077938e+01] [-2.05105058e-01 9.78735524e-01 -2.94786967e-03 -1.35449819e+01] [-1.47491538e-02 -7.92625045e-05 9.99891222e-01 -1.89992053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.94, Y:-13.55, Z:-1.90 [[ 9.78640784e-01 2.05069146e-01 1.44519945e-02 8.49357353e+01] [-2.05047988e-01 9.78747485e-01 -2.94680705e-03 -1.35505470e+01] [-1.47491525e-02 -7.94868387e-05 9.99891222e-01 -1.90047033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.96, Y:-13.56, Z:-1.90 [[ 9.78784478e-01 2.04312081e-01 1.54116397e-02 8.49632215e+01] [-2.04287941e-01 9.78905801e-01 -3.14151887e-03 -1.35561646e+01] [-1.57283938e-02 -7.35422435e-05 9.99876298e-01 -1.90090823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.99, Y:-13.56, Z:-1.90 [[ 9.78911186e-01 2.03682546e-01 1.56942552e-02 8.49904618e+01] [-2.03657450e-01 9.79036984e-01 -3.19792462e-03 -1.35619194e+01] [-1.60166177e-02 -6.57678107e-05 9.99871724e-01 -1.90164153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.02, Y:-13.57, Z:-1.90 [[ 9.79267049e-01 2.01981808e-01 1.54724047e-02 8.50166682e+01] [-2.01957222e-01 9.79389273e-01 -3.15162981e-03 -1.35678023e+01] [-1.57900791e-02 -3.84766391e-05 9.99875328e-01 -1.90258367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.04, Y:-13.57, Z:-1.90 [[ 9.79432869e-01 2.01148278e-01 1.58311705e-02 8.50437419e+01] [-2.01122453e-01 9.79560804e-01 -3.22325713e-03 -1.35731575e+01] [-1.61559467e-02 -2.70398529e-05 9.99869484e-01 -1.90301879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.07, Y:-13.58, Z:-1.90 [[ 9.79601576e-01 2.00305392e-01 1.60780207e-02 8.50699090e+01] [-2.00278661e-01 9.79733510e-01 -3.27234705e-03 -1.35783341e+01] [-1.64076444e-02 -1.44881319e-05 9.99865385e-01 -1.90361787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.10, Y:-13.58, Z:-1.90 [[ 9.79851687e-01 1.99149792e-01 1.51667737e-02 8.50964074e+01] [-1.99125886e-01 9.79969061e-01 -3.08567562e-03 -1.35842164e+01] [-1.54774807e-02 3.40721286e-06 9.99880217e-01 -1.90438356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.12, Y:-13.59, Z:-1.90 [[ 9.79961799e-01 1.98594116e-01 1.53378325e-02 8.51234992e+01] [-1.98569621e-01 9.80081822e-01 -3.11911840e-03 -1.35900615e+01] [-1.56517693e-02 1.09893093e-05 9.99877503e-01 -1.90499923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:-13.60, Z:-1.91 [[ 9.80078961e-01 1.98042959e-01 1.49738824e-02 8.51507223e+01] [-1.98019564e-01 9.80193341e-01 -3.04405364e-03 -1.35958044e+01] [-1.52801532e-02 1.82912627e-05 9.99883251e-01 -1.90552441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:-13.60, Z:-1.91 [[ 9.80173533e-01 1.97591047e-01 1.47520752e-02 8.51777989e+01] [-1.97568304e-01 9.80284539e-01 -2.99790872e-03 -1.36021273e+01] [-1.50535911e-02 2.39283042e-05 9.99886688e-01 -1.90569753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.21, Y:-13.61, Z:-1.91 [[ 9.80363451e-01 1.96644600e-01 1.47785668e-02 8.52052659e+01] [-1.96621684e-01 9.80474834e-01 -3.00223826e-03 -1.36093031e+01] [-1.50803868e-02 3.74979610e-05 9.99886284e-01 -1.90710603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76862385300001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:85.23, Y:-13.62, Z:-1.91 [[ 9.80475880e-01 1.96099531e-01 1.45609779e-02 8.52320274e+01] [-1.96077240e-01 9.80583995e-01 -2.95701320e-03 -1.36155888e+01] [-1.48581308e-02 4.42037468e-05 9.99889611e-01 -1.90712597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.26, Y:-13.62, Z:-1.91 [[ 9.80590389e-01 1.95551624e-01 1.42145111e-02 8.52592642e+01] [-1.95530342e-01 9.80693408e-01 -2.88537171e-03 -1.36225947e+01] [-1.45043165e-02 4.99995438e-05 9.99894806e-01 -1.90772125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:85.29, Y:-13.63, Z:-1.90 [[ 9.80645333e-01 1.95308962e-01 1.37528525e-02 8.52868580e+01] [-1.95289030e-01 9.80741763e-01 -2.79072795e-03 -1.36289930e+01] [-1.40330510e-02 5.09331192e-05 9.99901531e-01 -1.90145430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:-13.64, Z:-1.91 [[ 9.80632620e-01 1.95323822e-01 1.44315402e-02 8.53124723e+01] [-1.95301890e-01 9.80738804e-01 -2.92741488e-03 -1.36366599e+01] [-1.47253653e-02 5.22114488e-05 9.99891575e-01 -1.91003129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.34, Y:-13.64, Z:-1.91 [[ 9.80591655e-01 1.95564055e-01 1.39537268e-02 8.53398132e+01] [-1.95543592e-01 9.80690929e-01 -2.82933692e-03 -1.36432624e+01] [-1.42376099e-02 4.58623201e-05 9.99898639e-01 -1.90745882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.918623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.37, Y:-13.65, Z:-1.91 [[ 9.80237016e-01 1.97389624e-01 1.31426083e-02 8.53668505e+01] [-1.97371647e-01 9.80325117e-01 -2.66402924e-03 -1.36497480e+01] [-1.34098808e-02 1.74018218e-05 9.99910083e-01 -1.90523761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:-13.66, Z:-1.91 [[ 9.79957106e-01 1.98750540e-01 1.35015827e-02 8.53928968e+01] [-1.98731709e-01 9.80050112e-01 -2.73586777e-03 -1.36557030e+01] [-1.37759829e-02 -2.15954709e-06 9.99905107e-01 -1.91162217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.978623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:85.42, Y:-13.66, Z:-1.91 [[ 9.79105920e-01 2.02912809e-01 1.33412854e-02 8.54205383e+01] [-2.02894824e-01 9.79196808e-01 -2.70224844e-03 -1.36627677e+01] [-1.36120649e-02 -6.10903131e-05 9.99907350e-01 -1.90564343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.45, Y:-13.67, Z:-1.91 [[ 9.78578456e-01 2.05436420e-01 1.34194969e-02 8.54476488e+01] [-2.05418473e-01 9.78670459e-01 -2.71717829e-03 -1.36693857e+01] [-1.36914726e-02 -9.76404329e-05 9.99906263e-01 -1.91272687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:-13.68, Z:-1.91 [[ 9.78043837e-01 2.07984689e-01 1.31385856e-02 8.54752033e+01] [-2.07967728e-01 9.78132073e-01 -2.65936148e-03 -1.36750949e+01] [-1.34043784e-02 -1.31429692e-04 9.99910149e-01 -1.91301983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.50, Y:-13.68, Z:-1.91 [[ 9.77061574e-01 2.12549952e-01 1.31604595e-02 8.55016942e+01] [-2.12533361e-01 9.77150183e-01 -2.66288306e-03 -1.36792774e+01] [-1.34257410e-02 -1.95235965e-04 9.99909852e-01 -1.91437304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:-13.68, Z:-1.91 [[ 9.76696320e-01 2.14232072e-01 1.29968498e-02 8.55278301e+01] [-2.14216054e-01 9.76782766e-01 -2.62868285e-03 -1.36840735e+01] [-1.32582471e-02 -2.16709008e-04 9.99912082e-01 -1.91482810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12862385300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:85.56, Y:-13.69, Z:-1.91 [[ 9.76399382e-01 2.15597162e-01 1.27322374e-02 8.55552925e+01] [-2.15581920e-01 9.76482366e-01 -2.57402338e-03 -1.36884823e+01] [-1.29877574e-02 -2.31565347e-04 9.99915629e-01 -1.90773968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:-13.69, Z:-1.92 [[ 9.76095206e-01 2.16926299e-01 1.34584205e-02 8.55813799e+01] [-2.16909408e-01 9.76187949e-01 -2.71988619e-03 -1.36924383e+01] [-1.37279627e-02 -2.64390152e-04 9.99905732e-01 -1.91669676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:85.61, Y:-13.70, Z:-1.92 [[ 9.76136985e-01 2.16730211e-01 1.35868158e-02 8.56086803e+01] [-2.16712993e-01 9.76231502e-01 -2.74467471e-03 -1.36979545e+01] [-1.38587316e-02 -2.65261023e-04 9.99903928e-01 -1.91703510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.64, Y:-13.70, Z:-1.92 [[ 9.76315918e-01 2.15921330e-01 1.36090795e-02 8.56359982e+01] [-2.15903991e-01 9.76410730e-01 -2.74819304e-03 -1.37035854e+01] [-1.38814447e-02 -2.55149965e-04 9.99903616e-01 -1.91811087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.66, Y:-13.71, Z:-1.92 [[ 9.76823802e-01 2.13610466e-01 1.36318861e-02 8.56629576e+01] [-2.13592857e-01 9.76918891e-01 -2.75188297e-03 -1.37077914e+01] [-1.39050780e-02 -2.23568695e-04 9.99903295e-01 -1.91834863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.278623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.69, Y:-13.71, Z:-1.92 [[ 9.77097484e-01 2.12362294e-01 1.35189511e-02 8.56896432e+01] [-2.12344869e-01 9.77190981e-01 -2.72815175e-03 -1.37116572e+01] [-1.37899536e-02 -2.05009677e-04 9.99904893e-01 -1.91896271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.72, Y:-13.72, Z:-1.92 [[ 9.77442842e-01 2.10781133e-01 1.32968189e-02 8.57175909e+01] [-2.10764153e-01 9.77533263e-01 -2.68153168e-03 -1.37163944e+01] [-1.35632991e-02 -1.81448839e-04 9.99907998e-01 -1.91958991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.74, Y:-13.72, Z:-1.92 [[ 9.78278901e-01 2.06830888e-01 1.38338972e-02 8.57449710e+01] [-2.06812126e-01 9.78376700e-01 -2.78893315e-03 -1.37223074e+01] [-1.41116002e-02 -1.32663231e-04 9.99900418e-01 -1.92106526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.368623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:85.77, Y:-13.73, Z:-1.92 [[ 9.78830262e-01 2.04226120e-01 1.35280881e-02 8.57712784e+01] [-2.04207943e-01 9.78923737e-01 -2.72635675e-03 -1.37272992e+01] [-1.37997598e-02 -9.39025466e-05 9.99904774e-01 -1.91557718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:-13.73, Z:-1.92 [[ 9.79389370e-01 2.01513023e-01 1.37464041e-02 8.57979894e+01] [-2.01494006e-01 9.79485834e-01 -2.76900049e-03 -1.37334526e+01] [-1.40223977e-02 -5.78883945e-05 9.99901680e-01 -1.92228665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:-13.74, Z:-1.92 [[ 9.80516240e-01 1.95969577e-01 1.35583504e-02 8.58250061e+01] [-1.95950558e-01 9.80609976e-01 -2.73025435e-03 -1.37407903e+01] [-1.38305005e-02 2.02924003e-05 9.99904354e-01 -1.92324744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.458623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:85.85, Y:-13.75, Z:-1.92 [[ 9.80980453e-01 1.93659789e-01 1.31619301e-02 8.58521156e+01] [-1.93641669e-01 9.81068746e-01 -2.64961030e-03 -1.37469424e+01] [-1.34258813e-02 5.05177981e-05 9.99909868e-01 -1.91615053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:-13.75, Z:-1.92 [[ 9.81368334e-01 1.91659604e-01 1.35199900e-02 8.58785655e+01] [-1.91640308e-01 9.81461456e-01 -2.72077759e-03 -1.37546979e+01] [-1.37908122e-02 7.91099343e-05 9.99904899e-01 -1.92455690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.91, Y:-13.76, Z:-1.92 [[ 9.81827720e-01 1.89354171e-01 1.26224697e-02 8.59058407e+01] [-1.89337171e-01 9.81908849e-01 -2.53930569e-03 -1.37635503e+01] [-1.28749429e-02 1.03257995e-04 9.99917109e-01 -1.92497016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:-13.77, Z:-1.93 [[ 9.81878150e-01 1.89105291e-01 1.24292584e-02 8.59332919e+01] [-1.89088795e-01 9.81956811e-01 -2.49994746e-03 -1.37700203e+01] [-1.26777483e-02 1.04410284e-04 9.99919629e-01 -1.92572068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.96, Y:-13.78, Z:-1.93 [[ 9.81791182e-01 1.89569126e-01 1.22319974e-02 8.59600366e+01] [-1.89553193e-01 9.81867372e-01 -2.45965893e-03 -1.37765919e+01] [-1.24764745e-02 9.62572765e-05 9.99922161e-01 -1.92632445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:-13.79, Z:-1.93 [[ 9.81298587e-01 1.92111160e-01 1.20989584e-02 8.59854429e+01] [-1.92095772e-01 9.81373170e-01 -2.43229018e-03 -1.37850034e+01] [-1.23408632e-02 6.26441630e-05 9.99923847e-01 -1.92658646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:86.01, Y:-13.79, Z:-1.92 [[ 9.80904250e-01 1.94139800e-01 1.16871687e-02 8.60135982e+01] [-1.94125603e-01 9.80973872e-01 -2.34805613e-03 -1.37912467e+01] [-1.19206583e-02 3.44395637e-05 9.99928946e-01 -1.91980940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:-13.80, Z:-1.93 [[ 9.79874456e-01 1.99272384e-01 1.16862321e-02 8.60400748e+01] [-1.99258560e-01 9.79944139e-01 -2.34737358e-03 -1.37979099e+01] [-1.19196214e-02 -2.84503643e-05 9.99928958e-01 -1.92681895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.698623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.07, Y:-13.80, Z:-1.93 [[ 9.79324231e-01 2.01967923e-01 1.15329257e-02 8.60676204e+01] [-2.01954653e-01 9.79392135e-01 -2.31596135e-03 -1.38031835e+01] [-1.17630066e-02 -6.10509347e-05 9.99930812e-01 -1.92746260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:-13.81, Z:-1.93 [[ 9.78765924e-01 2.04658816e-01 1.14906170e-02 8.60942808e+01] [-2.04645838e-01 9.78833367e-01 -2.30671786e-03 -1.38079082e+01] [-1.17194894e-02 -9.37701004e-05 9.99931320e-01 -1.92849802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:-13.81, Z:-1.93 [[ 9.77659940e-01 2.09892799e-01 1.12273994e-02 8.61213110e+01] [-2.09880764e-01 9.77724393e-01 -2.25292730e-03 -1.38105604e+01] [-1.14501754e-02 -1.53818385e-04 9.99934433e-01 -1.92863761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.15, Y:-13.81, Z:-1.93 [[ 9.77168845e-01 2.12169093e-01 1.11948625e-02 8.61495240e+01] [-2.12157288e-01 9.77232952e-01 -2.24542047e-03 -1.38145318e+01] [-1.14163973e-02 -1.80916739e-04 9.99934814e-01 -1.92969894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.818623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:86.18, Y:-13.82, Z:-1.93 [[ 9.76706656e-01 2.14299371e-01 1.09493281e-02 8.61775967e+01] [-2.14288221e-01 9.76768007e-01 -2.19541021e-03 -1.38187541e+01] [-1.11654284e-02 -2.02040272e-04 9.99937644e-01 -1.93051263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.20, Y:-13.82, Z:-1.93 [[ 9.76047132e-01 2.17289832e-01 1.08224546e-02 8.62046664e+01] [-2.17279129e-01 9.76107102e-01 -2.16928795e-03 -1.38220805e+01] [-1.10352390e-02 -2.34166236e-04 9.99939082e-01 -1.93158888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:-13.83, Z:-1.93 [[ 9.75787324e-01 2.18454970e-01 1.07946517e-02 8.62320965e+01] [-2.18444405e-01 9.75846999e-01 -2.16270952e-03 -1.38264888e+01] [-1.10063831e-02 -2.47686730e-04 9.99939397e-01 -1.93163691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:-13.83, Z:-1.93 [[ 9.75536560e-01 2.19579801e-01 1.06363200e-02 8.62586099e+01] [-2.19569614e-01 9.75594508e-01 -2.13070574e-03 -1.38300402e+01] [-1.08445954e-02 -2.56831326e-04 9.99941163e-01 -1.93204049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.29, Y:-13.83, Z:-1.93 [[ 9.75186398e-01 2.21160212e-01 9.98246821e-03 8.62875955e+01] [-2.21151337e-01 9.75237455e-01 -1.99810003e-03 -1.38300933e+01] [-1.01771771e-02 -2.59116222e-04 9.99948178e-01 -1.93358488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.31, Y:-13.83, Z:-1.93 [[ 9.75114241e-01 2.21481484e-01 9.90803757e-03 8.63141886e+01] [-2.21472760e-01 9.75164542e-01 -1.98300246e-03 -1.38323522e+01] [-1.01011652e-02 -2.60706484e-04 9.99948948e-01 -1.93387701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.34, Y:-13.83, Z:-1.93 [[ 9.75161158e-01 2.21283992e-01 9.70112044e-03 8.63431410e+01] [-2.21275635e-01 9.75209378e-01 -1.93993350e-03 -1.38326439e+01] [-9.88989985e-03 -2.54873790e-04 9.99951061e-01 -1.93442935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.37, Y:-13.84, Z:-1.93 [[ 9.75306395e-01 2.20633583e-01 9.91256757e-03 8.63697753e+01] [-2.20624826e-01 9.75356734e-01 -1.98197852e-03 -1.38350490e+01] [-1.01055805e-02 -2.53922172e-04 9.99948905e-01 -1.93482356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:-13.84, Z:-1.94 [[ 9.75472217e-01 2.19905134e-01 9.78188280e-03 8.63978805e+01] [-2.19896588e-01 9.75521231e-01 -1.95404519e-03 -1.38385891e+01] [-9.97213892e-03 -2.44885858e-04 9.99950247e-01 -1.93566483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.43, Y:-13.84, Z:-1.94 [[ 9.75796664e-01 2.18459817e-01 9.80706235e-03 8.64255937e+01] [-2.18451162e-01 9.75845917e-01 -1.95838813e-03 -1.38421393e+01] [-9.99801087e-03 -2.31375558e-04 9.99949992e-01 -1.93638155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.118623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.45, Y:-13.84, Z:-1.94 [[ 9.76624257e-01 2.14713169e-01 1.01644523e-02 8.64530518e+01] [-2.14703671e-01 9.76677129e-01 -2.02950044e-03 -1.38424169e+01] [-1.03631485e-02 -2.00285852e-04 9.99946281e-01 -1.93626979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.48, Y:-13.84, Z:-1.94 [[ 9.77103491e-01 2.12498039e-01 1.06466214e-02 8.64806535e+01] [-2.12487507e-01 9.77161475e-01 -2.12386806e-03 -1.38445485e+01] [-1.08547861e-02 -1.87035150e-04 9.99941068e-01 -1.93714293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.51, Y:-13.84, Z:-1.94 [[ 9.78085871e-01 2.07934965e-01 1.05393984e-02 8.65093043e+01] [-2.07924388e-01 9.78142644e-01 -2.10172843e-03 -1.38444645e+01] [-1.07460579e-02 -1.35727082e-04 9.99942250e-01 -1.93784540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.54, Y:-13.85, Z:-1.94 [[ 9.78528185e-01 2.05851321e-01 1.03838887e-02 8.65357985e+01] [-2.05840938e-01 9.78583273e-01 -2.07047564e-03 -1.38475101e+01] [-1.05877099e-02 -1.11410616e-04 9.99943942e-01 -1.93827398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.56, Y:-13.85, Z:-1.94 [[ 9.78900013e-01 2.04072417e-01 1.04505614e-02 8.65632544e+01] [-2.04061819e-01 9.78955791e-01 -2.08188892e-03 -1.38507365e+01] [-1.06554937e-02 -9.45994702e-05 9.99943224e-01 -1.93904923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.59, Y:-13.85, Z:-1.94 [[ 9.79607554e-01 2.00627164e-01 1.08527090e-02 8.65908181e+01] [-2.00615532e-01 9.79667667e-01 -2.16125601e-03 -1.38518953e+01] [-1.10656548e-02 -6.00392775e-05 9.99938772e-01 -1.93898157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:-13.86, Z:-1.94 [[ 9.79890761e-01 1.99227707e-01 1.10642016e-02 8.66191132e+01] [-1.99215540e-01 9.79953223e-01 -2.20232986e-03 -1.38551610e+01] [-1.12811652e-02 -4.61182219e-05 9.99936365e-01 -1.93939003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.65, Y:-13.86, Z:-1.94 [[ 9.80219081e-01 1.97606344e-01 1.10583002e-02 8.66474513e+01] [-1.97594095e-01 9.80281456e-01 -2.20035516e-03 -1.38585603e+01] [-1.12750508e-02 -2.82247124e-05 9.99936434e-01 -1.93969398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.68, Y:-13.86, Z:-1.94 [[ 9.80230745e-01 1.97548468e-01 1.10584741e-02 8.66754176e+01] [-1.97536226e-01 9.80293120e-01 -2.19948075e-03 -1.38639905e+01] [-1.12750502e-02 -2.84505810e-05 9.99936434e-01 -1.94024379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.70, Y:-13.87, Z:-1.94 [[ 9.80959662e-01 1.93835517e-01 1.20802720e-02 8.67021626e+01] [-1.93820634e-01 9.81034042e-01 -2.40202817e-03 -1.38665875e+01] [-1.23167564e-02 1.48867637e-05 9.99924146e-01 -1.94040287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:-13.87, Z:-1.94 [[ 9.81331400e-01 1.91879634e-01 1.30724868e-02 8.67300865e+01] [-1.91862050e-01 9.81418465e-01 -2.59799333e-03 -1.38707641e+01] [-1.33280819e-02 4.13783173e-05 9.99911176e-01 -1.94079736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.76, Y:-13.87, Z:-1.94 [[ 9.81749185e-01 1.89705982e-01 1.34230390e-02 8.67571158e+01] [-1.89687251e-01 9.81840942e-01 -2.66671468e-03 -1.38746030e+01] [-1.36851809e-02 7.18655969e-05 9.99906351e-01 -1.94108706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.478623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.78, Y:-13.88, Z:-1.94 [[ 9.82600220e-01 1.85289161e-01 1.28349060e-02 8.67848000e+01] [-1.85271673e-01 9.82684034e-01 -2.54879254e-03 -1.38783262e+01] [-1.30849209e-02 1.26499600e-04 9.99914381e-01 -1.94200145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.81, Y:-13.88, Z:-1.94 [[ 9.83006181e-01 1.83108196e-01 1.30474957e-02 8.68116036e+01] [-1.83089944e-01 9.83092754e-01 -2.59009452e-03 -1.38837133e+01] [-1.33011660e-02 1.57213671e-04 9.99911523e-01 -1.94252743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.538623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.84, Y:-13.89, Z:-1.94 [[ 9.83610148e-01 1.79876093e-01 1.24767273e-02 8.68395504e+01] [-1.79859156e-01 9.83689257e-01 -2.47573286e-03 -1.38889784e+01] [-1.27185477e-02 1.91102328e-04 9.99919098e-01 -1.94315165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:-13.89, Z:-1.94 [[ 9.83853933e-01 1.78605813e-01 1.14630465e-02 8.68673701e+01] [-1.78591439e-01 9.83920692e-01 -2.27385730e-03 -1.38942980e+01] [-1.16848527e-02 1.89941477e-04 9.99931712e-01 -1.94412135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:-13.90, Z:-1.95 [[ 9.83990105e-01 1.77900190e-01 1.07236040e-02 8.68944603e+01] [-1.77887576e-01 9.84048519e-01 -2.12647797e-03 -1.39000753e+01] [-1.09308474e-02 1.84837358e-04 9.99940239e-01 -1.94516862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.92, Y:-13.91, Z:-1.95 [[ 9.84087945e-01 1.77363281e-01 1.06387562e-02 8.69219234e+01] [-1.77350844e-01 9.84145432e-01 -2.10887494e-03 -1.39060136e+01] [-1.08441203e-02 1.88526017e-04 9.99941183e-01 -1.94599194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.95, Y:-13.91, Z:-1.95 [[ 9.84101270e-01 1.77293696e-01 1.05658000e-02 8.69487871e+01] [-1.77281432e-01 9.84157970e-01 -2.09364576e-03 -1.39128105e+01] [-1.07696065e-02 1.87239290e-04 9.99941989e-01 -1.94698956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:-13.92, Z:-1.95 [[ 9.84065937e-01 1.77519661e-01 1.00499168e-02 8.69757937e+01] [-1.77508584e-01 9.84117239e-01 -1.99078125e-03 -1.39180351e+01] [-1.02436992e-02 1.75113503e-04 9.99947517e-01 -1.94722128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:87.00, Y:-13.92, Z:-1.94 [[ 9.83929794e-01 1.78328101e-01 9.01382512e-03 8.70024345e+01] [-1.78319228e-01 9.83971070e-01 -1.78512945e-03 -1.39240044e+01] [-9.18768190e-03 1.49103721e-04 9.99957781e-01 -1.94009802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.03, Y:-13.93, Z:-1.95 [[ 9.83840771e-01 1.78785160e-01 9.65418102e-03 8.70297438e+01] [-1.78775014e-01 9.83888125e-01 -1.91085175e-03 -1.39313033e+01] [-9.84026600e-03 1.54047512e-04 9.99951572e-01 -1.94867682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:-13.94, Z:-1.95 [[ 9.83447194e-01 1.80944551e-01 9.52292754e-03 8.70558494e+01] [-1.80934786e-01 9.83493291e-01 -1.88430776e-03 -1.39381552e+01] [-9.70669056e-03 1.30088324e-04 9.99952881e-01 -1.94898727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:-13.94, Z:-1.95 [[ 9.83252913e-01 1.82008854e-01 9.29977375e-03 8.70829332e+01] [-1.81999598e-01 9.83296885e-01 -1.83916199e-03 -1.39433879e+01] [-9.47918233e-03 1.15806294e-04 9.99955065e-01 -1.94957172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.11, Y:-13.95, Z:-1.95 [[ 9.83085719e-01 1.82909699e-01 9.30117021e-03 8.71098154e+01] [-1.82900484e-01 9.83129712e-01 -1.83910684e-03 -1.39484114e+01] [-9.48064727e-03 1.06811131e-04 9.99955052e-01 -1.95025120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.14, Y:-13.95, Z:-1.95 [[ 9.82985486e-01 1.83435418e-01 9.53841245e-03 8.71372027e+01] [-1.83425762e-01 9.83031758e-01 -1.88504812e-03 -1.39536354e+01] [-9.72234695e-03 1.03384375e-04 9.99952732e-01 -1.95092617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.16, Y:-13.96, Z:-1.95 [[ 9.82815392e-01 1.84345787e-01 9.51504817e-03 8.71630053e+01] [-1.84336225e-01 9.82861446e-01 -1.87985026e-03 -1.39601185e+01] [-9.69851648e-03 9.35777053e-05 9.99952964e-01 -1.95109205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:-13.97, Z:-1.95 [[ 9.82750021e-01 1.84688244e-01 9.62546829e-03 8.71900849e+01] [-1.84678485e-01 9.82797153e-01 -1.90071744e-03 -1.39659522e+01] [-9.81092300e-03 9.03131998e-05 9.99951868e-01 -1.95182778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.22, Y:-13.97, Z:-1.95 [[ 9.82479154e-01 1.86126558e-01 9.57167871e-03 8.72168737e+01] [-1.86116983e-01 9.82525775e-01 -1.88940682e-03 -1.39723958e+01] [-9.75608983e-03 7.48508500e-05 9.99952405e-01 -1.95227905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.24, Y:-13.98, Z:-1.95 [[ 9.82345683e-01 1.86817227e-01 9.81237496e-03 8.72445355e+01] [-1.86807206e-01 9.82394686e-01 -1.93619939e-03 -1.39778506e+01] [-1.00013404e-02 6.89947592e-05 9.99949983e-01 -1.95288067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.27, Y:-13.98, Z:-1.95 [[ 9.82110955e-01 1.88043933e-01 9.87682765e-03 8.72705988e+01] [-1.88033849e-01 9.82160616e-01 -1.94817425e-03 -1.39828122e+01] [-1.00669735e-02 5.61453561e-05 9.99949325e-01 -1.95332579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:-13.99, Z:-1.95 [[ 9.81700359e-01 1.90152661e-01 1.03136061e-02 8.72984307e+01] [-1.90141791e-01 9.81754534e-01 -2.03352500e-03 -1.39876367e+01] [-1.05121097e-02 3.52646932e-05 9.99944746e-01 -1.95356550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.32, Y:-13.99, Z:-1.95 [[ 9.81489197e-01 1.91249861e-01 1.01215653e-02 8.73244567e+01] [-1.91239456e-01 9.81541385e-01 -1.99503212e-03 -1.39931988e+01] [-1.03162848e-02 2.24598360e-05 9.99946785e-01 -1.95414838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.35, Y:-14.00, Z:-1.96 [[ 9.81314221e-01 1.92144353e-01 1.01463208e-02 8.73516433e+01] [-1.92133956e-01 9.81366673e-01 -1.99891516e-03 -1.39984486e+01] [-1.03413414e-02 1.21111196e-05 9.99946527e-01 -1.95510053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.38, Y:-14.00, Z:-1.96 [[ 9.80989353e-01 1.93790957e-01 1.02447269e-02 8.73794949e+01] [-1.93780455e-01 9.81042846e-01 -2.01752934e-03 -1.40028844e+01] [-1.04414950e-02 -6.05303356e-06 9.99945486e-01 -1.95558674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:-14.01, Z:-1.96 [[ 9.80891140e-01 1.94285305e-01 1.02855469e-02 8.74063411e+01] [-1.94274753e-01 9.80945065e-01 -2.02491300e-03 -1.40074854e+01] [-1.04829673e-02 -1.20028698e-05 9.99945052e-01 -1.95609429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.198623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.43, Y:-14.01, Z:-1.96 [[ 9.80837015e-01 1.94563668e-01 1.01847161e-02 8.74341556e+01] [-1.94553347e-01 9.80889891e-01 -2.00411393e-03 -1.40120575e+01] [-1.03800129e-02 -1.57614900e-05 9.99946126e-01 -1.95723142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.46, Y:-14.02, Z:-1.96 [[ 9.80832103e-01 1.94619650e-01 9.56964119e-03 8.74616200e+01] [-1.94610546e-01 9.80878785e-01 -1.88245617e-03 -1.40170340e+01] [-9.75302099e-03 -1.59796578e-05 9.99952438e-01 -1.95707730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:-14.02, Z:-1.96 [[ 9.80817725e-01 1.94711870e-01 9.15848754e-03 8.74888719e+01] [-1.94703542e-01 9.80860483e-01 -1.80095232e-03 -1.40217506e+01] [-9.33386531e-03 -1.67840054e-05 9.99956438e-01 -1.95801911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:-14.03, Z:-1.96 [[ 9.80731736e-01 1.95143364e-01 9.18306878e-03 8.75153446e+01] [-1.95135011e-01 9.80774728e-01 -1.80567825e-03 -1.40256427e+01] [-9.35888791e-03 -2.10522631e-05 9.99956204e-01 -1.95868977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.318623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.54, Y:-14.03, Z:-1.96 [[ 9.80685723e-01 1.95379335e-01 9.07901414e-03 8.75433953e+01] [-1.95371197e-01 9.80727748e-01 -1.78342414e-03 -1.40301964e+01] [-9.25248531e-03 -2.47992708e-05 9.99957195e-01 -1.95892571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.57, Y:-14.03, Z:-1.96 [[ 9.80597225e-01 1.95833690e-01 8.84586002e-03 8.75710743e+01] [-1.95825988e-01 9.80637122e-01 -1.73700174e-03 -1.40347628e+01] [-9.01474218e-03 -2.89501933e-05 9.99959366e-01 -1.95984619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:87.60, Y:-14.04, Z:-1.95 [[ 9.80515384e-01 1.96285683e-01 7.84304241e-03 8.75981787e+01] [-1.96279645e-01 9.80546750e-01 -1.53979210e-03 -1.40373026e+01] [-7.99270889e-03 -2.96397425e-05 9.99968057e-01 -1.95374639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:-14.04, Z:-1.96 [[ 9.80439350e-01 1.96668190e-01 7.76554398e-03 8.76249609e+01] [-1.96662289e-01 9.80470103e-01 -1.52390177e-03 -1.40419549e+01] [-7.91358671e-03 -3.30963940e-05 9.99968687e-01 -1.96209378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:87.65, Y:-14.05, Z:-1.96 [[ 9.80439316e-01 1.96701281e-01 6.88133220e-03 8.76526603e+01] [-1.96696652e-01 9.80463464e-01 -1.34985579e-03 -1.40461446e+01] [-7.01241317e-03 -3.00833122e-05 9.99975412e-01 -1.95589780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.68, Y:-14.05, Z:-1.96 [[ 9.80361677e-01 1.97029374e-01 8.39092825e-03 8.76786196e+01] [-1.97022509e-01 9.80397585e-01 -1.64518792e-03 -1.40509334e+01] [-8.55059614e-03 -4.03225540e-05 9.99963442e-01 -1.96381979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.70, Y:-14.06, Z:-1.96 [[ 9.80431480e-01 1.96656916e-01 8.95377658e-03 8.77048444e+01] [-1.96649092e-01 9.80472364e-01 -1.75465262e-03 -1.40552213e+01] [-9.12399506e-03 -4.04353651e-05 9.99958375e-01 -1.96399200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.73, Y:-14.06, Z:-1.96 [[ 9.80719050e-01 1.95195885e-01 9.41864696e-03 8.77329914e+01] [-1.95187170e-01 9.80764276e-01 -1.84479871e-03 -1.40585877e+01] [-9.59756958e-03 -2.91698026e-05 9.99953942e-01 -1.96377938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:-14.06, Z:-1.96 [[ 9.80960134e-01 1.93988836e-01 9.24917979e-03 8.77606350e+01] [-1.93980384e-01 9.81003737e-01 -1.81094669e-03 -1.40627452e+01] [-9.42478338e-03 -1.76929424e-05 9.99955586e-01 -1.96455139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:-14.07, Z:-1.97 [[ 9.81214501e-01 1.92706776e-01 9.06648393e-03 8.77886326e+01] [-1.92698605e-01 9.81256388e-01 -1.77452117e-03 -1.40674424e+01] [-9.23850752e-03 -5.91289896e-06 9.99957324e-01 -1.96500698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:-14.07, Z:-1.97 [[ 9.81515460e-01 1.91173767e-01 8.94383365e-03 8.78148097e+01] [-1.91165758e-01 9.81556209e-01 -1.74997618e-03 -1.40720514e+01] [-9.11342499e-03 7.87393973e-06 9.99958472e-01 -1.96593570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:-14.08, Z:-1.97 [[ 9.82115995e-01 1.88049464e-01 9.25051843e-03 8.78417890e+01] [-1.88040767e-01 9.82159558e-01 -1.80896029e-03 -1.40778923e+01] [-9.42565911e-03 3.71342571e-05 9.99955577e-01 -1.96668284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:87.87, Y:-14.08, Z:-1.97 [[ 9.82389451e-01 1.86604850e-01 9.46556602e-03 8.78695411e+01] [-1.86595684e-01 9.82435050e-01 -1.85028224e-03 -1.40840853e+01] [-9.64457546e-03 5.14639899e-05 9.99953489e-01 -1.96691304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:87.90, Y:-14.09, Z:-1.97 [[ 9.82578419e-01 1.85598476e-01 9.63619652e-03 8.78959923e+01] [-1.85588934e-01 9.82625667e-01 -1.88300849e-03 -1.40901015e+01] [-9.81825754e-03 6.18320688e-05 9.99951798e-01 -1.96730641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:-14.10, Z:-1.97 [[ 9.82597110e-01 1.85504699e-01 9.53547243e-03 8.79239394e+01] [-1.85495360e-01 9.82643375e-01 -1.86240333e-03 -1.40953038e+01] [-9.71545338e-03 6.12062415e-05 9.99952802e-01 -1.96751858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.95, Y:-14.10, Z:-1.97 [[ 9.82483526e-01 1.86095815e-01 9.71951375e-03 8.79510362e+01] [-1.86086148e-01 9.82531600e-01 -1.89763244e-03 -1.40999948e+01] [-9.90287085e-03 5.57257366e-05 9.99950964e-01 -1.96793759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.98, Y:-14.11, Z:-1.97 [[ 9.82116334e-01 1.87974194e-01 1.06399939e-02 8.79778121e+01] [-1.87962728e-01 9.82173967e-01 -2.07651970e-03 -1.41055585e+01] [-1.08406571e-02 3.94616304e-05 9.99941238e-01 -1.96800301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:-14.11, Z:-1.97 [[ 9.81951516e-01 1.88810046e-01 1.10448021e-02 8.80051849e+01] [-1.88797757e-01 9.82013628e-01 -2.15439569e-03 -1.41114788e+01] [-1.12529177e-02 3.02782497e-05 9.99936683e-01 -1.96837324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:-14.12, Z:-1.97 [[ 9.81844932e-01 1.89344521e-01 1.13658297e-02 8.80324568e+01] [-1.89331552e-01 9.81910715e-01 -2.21616218e-03 -1.41174137e+01] [-1.15798481e-02 2.40174207e-05 9.99932951e-01 -1.96797466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.06, Y:-14.12, Z:-1.97 [[ 9.81671505e-01 1.90151100e-01 1.27912088e-02 8.80593296e+01] [-1.90134759e-01 9.81754836e-01 -2.49294229e-03 -1.41241127e+01] [-1.30318669e-02 1.51970075e-05 9.99915082e-01 -1.96842305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:-14.13, Z:-1.97 [[ 9.81589353e-01 1.90520079e-01 1.35809385e-02 8.80856506e+01] [-1.90501706e-01 9.81683299e-01 -2.64581382e-03 -1.41304215e+01] [-1.38362612e-02 9.91071809e-06 9.99904274e-01 -1.96900902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:-14.14, Z:-1.97 [[ 9.81485574e-01 1.91051008e-01 1.36227874e-02 8.81130729e+01] [-1.91032591e-01 9.81580110e-01 -2.65270818e-03 -1.41371076e+01] [-1.38786598e-02 1.19843191e-06 9.99903687e-01 -1.96936720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.978623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.14, Y:-14.14, Z:-1.97 [[ 9.81227429e-01 1.92435074e-01 1.27072606e-02 8.81397116e+01] [-1.92419172e-01 9.81309708e-01 -2.47388922e-03 -1.41435729e+01] [-1.29458213e-02 -1.76726036e-05 9.99916199e-01 -1.97025498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.17, Y:-14.15, Z:-1.97 [[ 9.81062356e-01 1.93298785e-01 1.23382630e-02 8.81671764e+01] [-1.93283885e-01 9.81139938e-01 -2.40021272e-03 -1.41490734e+01] [-1.25695208e-02 -3.00290579e-05 9.99921000e-01 -1.97077574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.038623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.19, Y:-14.15, Z:-1.97 [[ 9.80843780e-01 1.94424774e-01 1.20202942e-02 8.81936461e+01] [-1.94410726e-01 9.80917430e-01 -2.33757587e-03 -1.41545921e+01] [-1.22453988e-02 -4.40773690e-05 9.99925021e-01 -1.97132439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:-14.16, Z:-1.97 [[ 9.80277925e-01 1.97297095e-01 1.13598506e-02 8.82201375e+01] [-1.97284751e-01 9.80343741e-01 -2.20823859e-03 -1.41593088e+01] [-1.15722375e-02 -7.64377530e-05 9.99933036e-01 -1.97179840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.098623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.25, Y:-14.16, Z:-1.97 [[ 9.79978003e-01 1.98796919e-01 1.10859447e-02 8.82462896e+01] [-1.98785270e-01 9.80040701e-01 -2.15406314e-03 -1.41643169e+01] [-1.12928981e-02 -9.27880168e-05 9.99936229e-01 -1.97263812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.27, Y:-14.17, Z:-1.97 [[ 9.79659280e-01 2.00379965e-01 1.07501443e-02 8.82728514e+01] [-2.00369116e-01 9.79718254e-01 -2.08793806e-03 -1.41697613e+01] [-1.09504935e-02 -1.08529012e-04 9.99940036e-01 -1.97280361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.30, Y:-14.17, Z:-1.97 [[ 9.78998387e-01 2.03568948e-01 1.10381802e-02 8.83001529e+01] [-2.03557725e-01 9.79060601e-01 -2.14283264e-03 -1.41746007e+01] [-1.12432616e-02 -1.49077157e-04 9.99936781e-01 -1.97272717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.33, Y:-14.18, Z:-1.97 [[ 9.78703745e-01 2.04977429e-01 1.11010858e-02 8.83267221e+01] [-2.04966171e-01 9.78766686e-01 -2.15468039e-03 -1.41789142e+01] [-1.13070338e-02 -1.66553284e-04 9.99936060e-01 -1.97346869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:-14.18, Z:-1.97 [[ 9.78400244e-01 2.06444790e-01 1.06541313e-02 8.83545434e+01] [-2.06434528e-01 9.78458235e-01 -2.06608908e-03 -1.41834828e+01] [-1.08511558e-02 -1.77918502e-04 9.99941109e-01 -1.97411857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:-14.19, Z:-1.97 [[ 9.78436371e-01 2.06273503e-01 1.06541070e-02 8.83825330e+01] [-2.06263229e-01 9.78494359e-01 -2.06621527e-03 -1.41887137e+01] [-1.08511890e-02 -1.75890331e-04 9.99941109e-01 -1.97466809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.41, Y:-14.19, Z:-1.98 [[ 9.77931394e-01 2.08697878e-01 9.76653471e-03 8.84107538e+01] [-2.08689391e-01 9.77980143e-01 -1.89159158e-03 -1.41911355e+01] [-9.94624817e-03 -1.88325391e-04 9.99950517e-01 -1.97585344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.44, Y:-14.19, Z:-1.98 [[ 9.77840416e-01 2.09138557e-01 9.44379463e-03 8.84384925e+01] [-2.09130647e-01 9.77886000e-01 -1.82847972e-03 -1.41945689e+01] [-9.61736016e-03 -1.87025513e-04 9.99953735e-01 -1.97666471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.47, Y:-14.20, Z:-1.98 [[ 9.77869111e-01 2.09012402e-01 9.26373657e-03 8.84652161e+01] [-2.09004786e-01 9.77912973e-01 -1.79354651e-03 -1.41982273e+01] [-9.43400164e-03 -1.82311550e-04 9.99955482e-01 -1.97722512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.49, Y:-14.20, Z:-1.98 [[ 9.78234898e-01 2.07300783e-01 9.10327774e-03 8.84931811e+01] [-2.07293371e-01 9.78277240e-01 -1.76063737e-03 -1.42013635e+01] [-9.27051093e-03 -1.64732217e-04 9.99957014e-01 -1.97856749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.52, Y:-14.20, Z:-1.98 [[ 9.78490497e-01 2.06098262e-01 8.93604433e-03 8.85200549e+01] [-2.06091075e-01 9.78531289e-01 -1.72777834e-03 -1.42049042e+01] [-9.10029109e-03 -1.51024290e-04 9.99958580e-01 -1.97581910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.55, Y:-14.21, Z:-1.98 [[ 9.78981377e-01 2.03723223e-01 9.60789983e-03 8.85469308e+01] [-2.03714810e-01 9.79028513e-01 -1.85671742e-03 -1.42069453e+01] [-9.78466434e-03 -1.39579709e-04 9.99952119e-01 -1.97880797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.57, Y:-14.21, Z:-1.98 [[ 9.79246251e-01 2.02454312e-01 9.43566166e-03 8.85745501e+01] [-2.02446147e-01 9.79291701e-01 -1.82255213e-03 -1.42105252e+01] [-9.60924870e-03 -1.25486010e-04 9.99953822e-01 -1.97925093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.60, Y:-14.21, Z:-1.98 [[ 9.79555268e-01 2.00954686e-01 9.41757573e-03 8.86018134e+01] [-2.00946489e-01 9.79600532e-01 -1.81847941e-03 -1.42141498e+01] [-9.59089415e-03 -1.11127685e-04 9.99954000e-01 -1.97958285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:-14.22, Z:-1.98 [[ 9.80329960e-01 1.97151010e-01 9.20043431e-03 8.86295813e+01] [-1.97143026e-01 9.80373130e-01 -1.77570841e-03 -1.42174946e+01] [-9.36994128e-03 -7.30213063e-05 9.99956098e-01 -1.98082590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.66, Y:-14.22, Z:-1.98 [[ 9.80829692e-01 1.94674224e-01 8.66383054e-03 8.86567899e+01] [-1.94667052e-01 9.80867955e-01 -1.67168926e-03 -1.42213862e+01] [-8.82350855e-03 -4.69198861e-05 9.99961071e-01 -1.98119184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.69, Y:-14.22, Z:-1.98 [[ 9.81721111e-01 1.90108881e-01 9.07052327e-03 8.86851957e+01] [-1.90100834e-01 9.81763013e-01 -1.74914896e-03 -1.42235443e+01] [-9.23763301e-03 -7.13757800e-06 9.99957332e-01 -1.98134675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:-14.23, Z:-1.98 [[ 9.82232884e-01 1.87422706e-01 9.55465021e-03 8.87121030e+01] [-1.87413657e-01 9.82279354e-01 -1.84182026e-03 -1.42275179e+01] [-9.73053458e-03 1.84244923e-05 9.99952657e-01 -1.98216251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.74, Y:-14.23, Z:-1.98 [[ 9.82808127e-01 1.84363838e-01 9.90757943e-03 8.87398694e+01] [-1.84353963e-01 9.82858063e-01 -1.90880264e-03 -1.42322396e+01] [-1.00896585e-02 4.94852126e-05 9.99949097e-01 -1.98239692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.77, Y:-14.24, Z:-1.98 [[ 9.84073906e-01 1.77384862e-01 1.15394344e-02 8.87678430e+01] [-1.77370998e-01 9.84141550e-01 -2.22211481e-03 -1.42372515e+01] [-1.17506064e-02 1.39964192e-04 9.99930949e-01 -1.98161534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.698623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.80, Y:-14.24, Z:-1.98 [[ 9.84716502e-01 1.73739533e-01 1.21648932e-02 8.87952527e+01] [-1.73723859e-01 9.84791621e-01 -2.34157291e-03 -1.42429305e+01] [-1.23867087e-02 1.92453298e-04 9.99923263e-01 -1.98216435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:88.82, Y:-14.25, Z:-1.98 [[ 9.85357134e-01 1.70054274e-01 1.23637073e-02 8.88221786e+01] [-1.70037806e-01 9.85434668e-01 -2.37891126e-03 -1.42490673e+01] [-1.25881699e-02 2.41779518e-04 9.99920737e-01 -1.98269957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:-14.26, Z:-1.98 [[ 9.86391026e-01 1.63992810e-01 1.17941693e-02 8.88494006e+01] [-1.63977400e-01 9.86461487e-01 -2.26853562e-03 -1.42577728e+01] [-1.20065173e-02 3.03685958e-04 9.99927873e-01 -1.98387711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.88, Y:-14.26, Z:-1.98 [[ 9.86850606e-01 1.61228714e-01 1.14535118e-02 8.88757706e+01] [-1.61214002e-01 9.86917015e-01 -2.20240276e-03 -1.42649839e+01] [-1.16587562e-02 3.26976029e-04 9.99931981e-01 -1.98461330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:-14.27, Z:-1.99 [[ 9.87212603e-01 1.58997872e-01 1.14435000e-02 8.89020465e+01] [-1.58983051e-01 9.87278863e-01 -2.19918459e-03 -1.42722867e+01] [-1.16475914e-02 3.51740196e-04 9.99932103e-01 -1.98538111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:88.93, Y:-14.28, Z:-1.98 [[ 9.87702721e-01 1.55964175e-01 1.08863117e-02 8.89292469e+01] [-1.55950589e-01 9.87762644e-01 -2.09117910e-03 -1.42815257e+01] [-1.10792410e-02 3.67736570e-04 9.99938556e-01 -1.98029537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:88.96, Y:-14.29, Z:-1.99 [[ 9.87858435e-01 1.54976130e-01 1.08679287e-02 8.89565712e+01] [-1.54962540e-01 9.87918143e-01 -2.08666179e-03 -1.42901244e+01] [-1.10600068e-02 3.77204599e-04 9.99938765e-01 -1.98579067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.98, Y:-14.30, Z:-1.99 [[ 9.87899093e-01 1.54715547e-01 1.08849585e-02 8.89827569e+01] [-1.54701905e-01 9.87958984e-01 -2.08948488e-03 -1.43009559e+01] [-1.10771684e-02 3.80276402e-04 9.99938574e-01 -1.98640386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.01, Y:-14.31, Z:-1.99 [[ 9.87846539e-01 1.55040870e-01 1.10247430e-02 8.90108974e+01] [-1.55026904e-01 9.87907983e-01 -2.11550238e-03 -1.43092689e+01] [-1.12194209e-02 3.80659932e-04 9.99936988e-01 -1.98680056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.04, Y:-14.32, Z:-1.99 [[ 9.87710583e-01 1.55887050e-01 1.12708148e-02 8.90388092e+01] [-1.55872515e-01 9.87774814e-01 -2.16218690e-03 -1.43179261e+01] [-1.14700839e-02 3.78804640e-04 9.99934145e-01 -1.98679434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99862385300001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:89.07, Y:-14.33, Z:-1.99 [[ 9.87386441e-01 1.57891047e-01 1.17657850e-02 8.90655317e+01] [-1.57875357e-01 9.87456470e-01 -2.25651665e-03 -1.43292561e+01] [-1.19744843e-02 3.70526441e-04 9.99928235e-01 -1.98703576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.09, Y:-14.34, Z:-1.98 [[ 9.87159655e-01 1.59333134e-01 1.13476020e-02 8.90929514e+01] [-1.59318640e-01 9.87224816e-01 -2.17578584e-03 -1.43365961e+01] [-1.15493091e-02 3.39963473e-04 9.99933247e-01 -1.98261385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:-14.35, Z:-1.99 [[ 9.86441620e-01 1.63696302e-01 1.16812018e-02 8.91200563e+01] [-1.63681256e-01 9.86510736e-01 -2.23913879e-03 -1.43483025e+01] [-1.18901698e-02 2.96785911e-04 9.99929265e-01 -1.98738682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.15, Y:-14.36, Z:-1.99 [[ 9.86016826e-01 1.66228301e-01 1.17886031e-02 8.91482429e+01] [-1.66213165e-01 9.86087258e-01 -2.25916407e-03 -1.43564212e+01] [-1.20001283e-02 2.68152763e-04 9.99927960e-01 -1.98786954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:-14.36, Z:-1.99 [[ 9.85512704e-01 1.69206849e-01 1.15651532e-02 8.91748065e+01] [-1.69192492e-01 9.85580535e-01 -2.21586697e-03 -1.43642482e+01] [-1.17733297e-02 2.27027966e-04 9.99930666e-01 -1.98811954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.20, Y:-14.37, Z:-1.99 [[ 9.84306054e-01 1.76136955e-01 1.08335250e-02 8.92022691e+01] [-1.76124785e-01 9.84365661e-01 -2.07486566e-03 -1.43747770e+01] [-1.10296106e-02 1.34250557e-04 9.99939163e-01 -1.98835581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.178623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:89.23, Y:-14.38, Z:-1.98 [[ 9.83640051e-01 1.79845397e-01 1.03866994e-02 8.92300690e+01] [-1.79834419e-01 9.83694884e-01 -1.98904766e-03 -1.43814569e+01] [-1.05750642e-02 8.86208840e-05 9.99944079e-01 -1.98258715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.26, Y:-14.39, Z:-1.99 [[ 9.82066708e-01 1.88264672e-01 1.00694674e-02 8.92558170e+01] [-1.88254798e-01 9.82118330e-01 -1.92815886e-03 -1.43908390e+01] [-1.02524127e-02 -2.04492191e-06 9.99947443e-01 -1.98928052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.28, Y:-14.40, Z:-1.99 [[ 9.81244839e-01 1.92504759e-01 1.00241797e-02 8.92831397e+01] [-1.92495205e-01 9.81296039e-01 -1.91852721e-03 -1.43969225e+01] [-1.02060134e-02 -4.70615905e-05 9.99947916e-01 -1.98985005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.31, Y:-14.40, Z:-1.99 [[ 9.80417446e-01 1.96660684e-01 1.03057064e-02 8.93102959e+01] [-1.96650823e-01 9.80471604e-01 -1.97162875e-03 -1.44020487e+01] [-1.04921943e-02 -9.36064194e-05 9.99944951e-01 -1.98964396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.34, Y:-14.41, Z:-1.99 [[ 9.79639032e-01 2.00484692e-01 1.06421543e-02 8.93377132e+01] [-2.00474410e-01 9.79696825e-01 -2.03518991e-03 -1.44070136e+01] [-1.08341092e-02 -1.39728127e-04 9.99941300e-01 -1.98996691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.36, Y:-14.41, Z:-1.99 [[ 9.78139465e-01 2.07678910e-01 1.06140056e-02 8.93636526e+01] [-2.07669113e-01 9.78197026e-01 -2.02911331e-03 -1.44132561e+01] [-1.08039928e-02 -2.19445326e-04 9.99941611e-01 -1.99063729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.39, Y:-14.42, Z:-1.99 [[ 9.77565024e-01 2.10389640e-01 1.01401418e-02 8.93911201e+01] [-2.10380854e-01 9.77617585e-01 -1.93759603e-03 -1.44186399e+01] [-1.03208310e-02 -2.39165569e-04 9.99946710e-01 -1.99082856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:-14.42, Z:-1.99 [[ 9.76571208e-01 2.14981517e-01 9.57204091e-03 8.94175965e+01] [-2.14973913e-01 9.76618080e-01 -1.82852848e-03 -1.44233534e+01] [-9.74132804e-03 -2.72050825e-04 9.99952515e-01 -1.99165189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.418623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.45, Y:-14.43, Z:-1.99 [[ 9.76176020e-01 2.16784884e-01 9.20286496e-03 8.94450060e+01] [-2.16777943e-01 9.76219358e-01 -1.75716425e-03 -1.44286197e+01] [-9.36494158e-03 -2.79676532e-04 9.99956109e-01 -1.99251310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.47, Y:-14.43, Z:-1.99 [[ 9.75873009e-01 2.18147657e-01 9.13618188e-03 8.94712687e+01] [-2.18140877e-01 9.75915732e-01 -1.74433529e-03 -1.44329561e+01] [-9.29666628e-03 -2.90725000e-04 9.99956743e-01 -1.99306005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.50, Y:-14.44, Z:-1.99 [[ 9.75402500e-01 2.20206540e-01 9.95198737e-03 8.94987133e+01] [-2.20198622e-01 9.75453210e-01 -1.89806834e-03 -1.44364261e+01] [-1.01256651e-02 -3.40033301e-04 9.99948676e-01 -1.99285737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.53, Y:-14.44, Z:-1.99 [[ 9.75272081e-01 2.20766697e-01 1.03166324e-02 8.95260958e+01] [-2.20758228e-01 9.75326579e-01 -1.96683035e-03 -1.44407614e+01] [-1.04962964e-02 -3.59286765e-04 9.99944848e-01 -1.99326126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.538623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.55, Y:-14.44, Z:-1.99 [[ 9.75206743e-01 2.21061421e-01 1.01811461e-02 8.95535950e+01] [-2.21053196e-01 9.75259822e-01 -1.94030727e-03 -1.44447717e+01] [-1.03581898e-02 -3.58374154e-04 9.99946288e-01 -1.99103105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.58, Y:-14.45, Z:-1.99 [[ 9.75358315e-01 2.20379563e-01 1.04405932e-02 8.95803921e+01] [-2.20370882e-01 9.75414126e-01 -1.98905553e-03 -1.44479709e+01] [-1.06222492e-02 -3.60760869e-04 9.99943517e-01 -1.99478324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.598623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.61, Y:-14.45, Z:-2.00 [[ 9.75581652e-01 2.19402621e-01 1.01454560e-02 8.96079844e+01] [-2.19394381e-01 9.75634344e-01 -1.93187986e-03 -1.44521121e+01] [-1.03221148e-02 -3.41149490e-04 9.99946667e-01 -1.99524097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:-14.46, Z:-2.00 [[ 9.75944629e-01 2.17791211e-01 9.95340021e-03 8.96351626e+01] [-2.17783202e-01 9.75995331e-01 -1.89474112e-03 -1.44559684e+01] [-1.01271301e-02 -3.18520951e-04 9.99948669e-01 -1.99571222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.66, Y:-14.46, Z:-2.00 [[ 9.76920775e-01 2.13373387e-01 9.87912456e-03 8.96620631e+01] [-2.13365275e-01 9.76970687e-01 -1.88018384e-03 -1.44596908e+01] [-1.00527963e-02 -2.71071483e-04 9.99949433e-01 -1.99640777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:89.69, Y:-14.46, Z:-2.00 [[ 9.77511984e-01 2.10644269e-01 9.96556276e-03 8.96891725e+01] [-2.10635890e-01 9.77562751e-01 -1.89490821e-03 -1.44643171e+01] [-1.01411145e-02 -2.46809699e-04 9.99948547e-01 -1.99697504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.72, Y:-14.47, Z:-2.00 [[ 9.78890677e-01 2.04141070e-01 9.97326580e-03 8.97157771e+01] [-2.04132343e-01 9.78941465e-01 -1.89615745e-03 -1.44670208e+01] [-1.01503270e-02 -1.79735270e-04 9.99948468e-01 -1.99712585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:-14.47, Z:-2.00 [[ 9.79619952e-01 2.00627566e-01 9.66070617e-03 8.97432636e+01] [-2.00619221e-01 9.79667576e-01 -1.83515779e-03 -1.44711030e+01] [-9.83246384e-03 -1.40366159e-04 9.99951650e-01 -1.99756717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:89.77, Y:-14.48, Z:-2.00 [[ 9.80363774e-01 1.96983923e-01 9.17630993e-03 8.97706629e+01] [-1.96976240e-01 9.80406714e-01 -1.74255927e-03 -1.44758167e+01] [-9.33977203e-03 -9.91730468e-05 9.99956378e-01 -1.99844469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.80, Y:-14.48, Z:-2.00 [[ 9.81164568e-01 1.92971777e-01 8.83081331e-03 8.97985366e+01] [-1.92964505e-01 9.81204306e-01 -1.67637134e-03 -1.44806452e+01] [-8.98832440e-03 -5.92373603e-05 9.99959602e-01 -1.99900025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:89.83, Y:-14.49, Z:-2.00 [[ 9.82684192e-01 1.85088763e-01 8.59820753e-03 8.98260811e+01] [-1.85081571e-01 9.82721807e-01 -1.63164273e-03 -1.44862977e+01] [-8.75164478e-03 1.20197558e-05 9.99961704e-01 -1.99953974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.868623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.85, Y:-14.49, Z:-2.00 [[ 9.83370930e-01 1.81396632e-01 8.76787737e-03 8.98528844e+01] [-1.81389012e-01 9.83410016e-01 -1.66327222e-03 -1.44920651e+01] [-8.92413041e-03 4.52169381e-05 9.99960178e-01 -2.00005019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.898623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:89.88, Y:-14.50, Z:-2.00 [[ 9.84613399e-01 1.74492443e-01 9.42563402e-03 8.98810345e+01] [-1.74483332e-01 9.84658506e-01 -1.78674430e-03 -1.44985407e+01] [-9.59280409e-03 1.14636350e-04 9.99953981e-01 -2.00027396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:89.91, Y:-14.50, Z:-2.00 [[ 9.85127864e-01 1.71561724e-01 9.46926135e-03 8.99089516e+01] [-1.71552398e-01 9.85173363e-01 -1.79454407e-03 -1.45043134e+01] [-9.63673912e-03 1.43380874e-04 9.99953555e-01 -2.00044710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.958623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.94, Y:-14.51, Z:-2.00 [[ 9.85598398e-01 1.68845934e-01 9.31925000e-03 8.99361136e+01] [-1.68836783e-01 9.85642442e-01 -1.76577761e-03 -1.45100666e+01] [-9.48359269e-03 1.66915395e-04 9.99955016e-01 -2.00062993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:-14.52, Z:-2.00 [[ 9.86202196e-01 1.65256216e-01 9.77807450e-03 8.99631802e+01] [-1.65245972e-01 9.86250647e-01 -1.85202376e-03 -1.45161408e+01] [-9.94969074e-03 2.10682473e-04 9.99950478e-01 -2.00009652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:89.99, Y:-14.52, Z:-2.00 [[ 9.86260828e-01 1.64907671e-01 9.74881326e-03 8.99912597e+01] [-1.64897478e-01 9.86308985e-01 -1.84579426e-03 -1.45220678e+01] [-9.91972774e-03 2.12879858e-04 9.99950776e-01 -2.00018708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.02, Y:-14.53, Z:-2.00 [[ 9.86276127e-01 1.64825138e-01 9.59557170e-03 9.00186426e+01] [-1.64815262e-01 9.86322782e-01 -1.81644842e-03 -1.45280502e+01] [-9.76372734e-03 2.10023050e-04 9.99952312e-01 -2.00058046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.05, Y:-14.54, Z:-2.00 [[ 9.86011958e-01 1.66397241e-01 9.61133731e-03 9.00467153e+01] [-1.66387414e-01 9.86058782e-01 -1.81876231e-03 -1.45350640e+01] [-9.77998058e-03 1.94115827e-04 9.99952156e-01 -2.00059782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.08, Y:-14.54, Z:-2.00 [[ 9.85829564e-01 1.67483106e-01 9.45938222e-03 9.00751881e+01] [-1.67473641e-01 9.85874930e-01 -1.78955653e-03 -1.45404897e+01] [-9.62548826e-03 1.80000547e-04 9.99953658e-01 -2.00095424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.10, Y:-14.55, Z:-2.00 [[ 9.85364701e-01 1.70193350e-01 9.51998253e-03 9.01034449e+01] [-1.70183895e-01 9.85410676e-01 -1.80054161e-03 -1.45459902e+01] [-9.68753262e-03 1.54042435e-04 9.99953063e-01 -2.00165119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.13, Y:-14.55, Z:-2.00 [[ 9.85370768e-01 1.70158211e-01 9.52008915e-03 9.01322750e+01] [-1.70148760e-01 9.85416744e-01 -1.79997760e-03 -1.45513567e+01] [-9.68753622e-03 1.53813948e-04 9.99953063e-01 -2.00221711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.198623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:90.16, Y:-14.56, Z:-2.00 [[ 9.85140429e-01 1.71490118e-01 9.45914093e-03 9.01598665e+01] [-1.71480850e-01 9.85185830e-01 -1.78834012e-03 -1.45570449e+01] [-9.62569427e-03 1.39704623e-04 9.99953662e-01 -2.00264825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.19, Y:-14.56, Z:-2.00 [[ 9.84735502e-01 1.73795184e-01 9.55123638e-03 9.01877669e+01] [-1.73785850e-01 9.84781814e-01 -1.80503665e-03 -1.45628552e+01] [-9.71959056e-03 1.17613941e-04 9.99952757e-01 -2.00252348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:-14.57, Z:-2.00 [[ 9.84498228e-01 1.75131126e-01 9.60870724e-03 9.02164369e+01] [-1.75121747e-01 9.84545112e-01 -1.81542694e-03 -1.45681703e+01] [-9.77814351e-03 1.04591007e-04 9.99952187e-01 -2.00349748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.24, Y:-14.57, Z:-2.00 [[ 9.84300063e-01 1.76262293e-01 9.21899863e-03 9.02434701e+01] [-1.76253711e-01 9.84343231e-01 -1.74155201e-03 -1.45730979e+01] [-9.38162884e-03 8.93270292e-05 9.99955988e-01 -2.00405780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.318623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.27, Y:-14.58, Z:-2.00 [[ 9.84073436e-01 1.77524982e-01 9.18441377e-03 9.02712919e+01] [-1.77516525e-01 9.84116291e-01 -1.73447845e-03 -1.45786006e+01] [-9.34644447e-03 7.64689530e-05 9.99956318e-01 -2.00480348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:90.30, Y:-14.58, Z:-2.00 [[ 9.83501979e-01 1.80700788e-01 8.43102591e-03 9.02994118e+01] [-1.80693785e-01 9.83538115e-01 -1.59146824e-03 -1.45846494e+01] [-8.57981489e-03 4.17781819e-05 9.99963192e-01 -1.99700975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.33, Y:-14.59, Z:-2.00 [[ 9.83155582e-01 1.82520800e-01 9.55301239e-03 9.03255814e+01] [-1.82511896e-01 9.83201992e-01 -1.80300589e-03 -1.45901388e+01] [-9.72162689e-03 2.90968945e-05 9.99952743e-01 -2.00481936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.35, Y:-14.59, Z:-2.00 [[ 9.82304720e-01 1.86972155e-01 1.09018447e-02 9.03528800e+01] [-1.86960847e-01 9.82365214e-01 -2.05638457e-03 -1.45936270e+01] [-1.10940797e-02 -1.82218514e-05 9.99938459e-01 -2.00453478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.38, Y:-14.60, Z:-2.00 [[ 9.81916566e-01 1.88981055e-01 1.12257687e-02 9.03808548e+01] [-1.88969209e-01 9.81980733e-01 -2.11639612e-03 -1.45980525e+01] [-1.14234473e-02 -4.32002066e-05 9.99934749e-01 -2.00440884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.41, Y:-14.60, Z:-2.01 [[ 9.81566438e-01 1.90797970e-01 1.11113266e-02 9.04071761e+01] [-1.90786489e-01 9.81629324e-01 -2.09411368e-03 -1.46025905e+01] [-1.13067567e-02 -6.43792888e-05 9.99936075e-01 -2.00520854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:90.43, Y:-14.61, Z:-2.01 [[ 9.81231216e-01 1.92545892e-01 1.05536323e-02 9.04345961e+01] [-1.92535645e-01 9.81287966e-01 -1.98808287e-03 -1.46071260e+01] [-1.07389496e-02 -8.11814387e-05 9.99942333e-01 -2.00569403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.46, Y:-14.61, Z:-2.01 [[ 9.80687110e-01 1.95352492e-01 9.49717813e-03 9.04614955e+01] [-1.95344330e-01 9.80733090e-01 -1.78862421e-03 -1.46087582e+01] [-9.66360905e-03 -1.01139192e-04 9.99953301e-01 -2.00779705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.558623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.49, Y:-14.61, Z:-2.01 [[ 9.80450589e-01 1.96563058e-01 8.92231213e-03 9.04890606e+01] [-1.96555911e-01 9.80491179e-01 -1.67957156e-03 -1.46124493e+01] [-9.07839007e-03 -1.06996267e-04 9.99958785e-01 -2.00860871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.52, Y:-14.62, Z:-2.01 [[ 9.80191566e-01 1.97912189e-01 7.43367446e-03 9.05162356e+01] [-1.97907268e-01 9.80219749e-01 -1.39917012e-03 -1.46154292e+01] [-7.56354733e-03 -9.97234556e-05 9.99971391e-01 -2.00994602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.54, Y:-14.62, Z:-2.01 [[ 9.80187946e-01 1.97940225e-01 7.15950242e-03 9.05443352e+01] [-1.97935666e-01 9.80214088e-01 -1.34687235e-03 -1.46191727e+01] [-7.28444535e-03 -9.69328362e-05 9.99973463e-01 -2.01085029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:90.57, Y:-14.62, Z:-2.01 [[ 9.80271426e-01 1.97530159e-01 7.05464569e-03 9.05720047e+01] [-1.97525726e-01 9.80296806e-01 -1.32666417e-03 -1.46224709e+01] [-7.17770282e-03 -9.29830291e-05 9.99974236e-01 -2.01103996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:-14.63, Z:-2.01 [[ 9.80653794e-01 1.95600118e-01 7.66352345e-03 9.05988623e+01] [-1.95594832e-01 9.80683734e-01 -1.44063221e-03 -1.46252039e+01] [-7.79728062e-03 -8.61841355e-05 9.99969597e-01 -2.01173940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:90.63, Y:-14.63, Z:-2.01 [[ 9.80976213e-01 1.93963640e-01 7.98596108e-03 9.06265070e+01] [-1.93957852e-01 9.81008716e-01 -1.50038285e-03 -1.46297821e+01] [-8.12531715e-03 -7.70999709e-05 9.99966986e-01 -2.01233746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:90.65, Y:-14.63, Z:-2.01 [[ 9.81798657e-01 1.89721876e-01 8.77536870e-03 9.06535593e+01] [-1.89714724e-01 9.81837872e-01 -1.64805483e-03 -1.46334842e+01] [-8.92866138e-03 -4.67586306e-05 9.99960138e-01 -2.01264500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:-14.64, Z:-2.01 [[ 9.82228040e-01 1.87486458e-01 8.76960934e-03 9.06807755e+01] [-1.87479233e-01 9.82267187e-01 -1.64612171e-03 -1.46377064e+01] [-8.92272503e-03 -2.72527317e-05 9.99960191e-01 -2.01303739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.71, Y:-14.64, Z:-2.01 [[ 9.82660104e-01 1.85198721e-01 8.97511575e-03 9.07086488e+01] [-1.85191065e-01 9.82701091e-01 -1.68404218e-03 -1.46420967e+01] [-9.13173849e-03 -7.27017320e-06 9.99958305e-01 -2.01425643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.74, Y:-14.65, Z:-2.01 [[ 9.83144797e-01 1.82622351e-01 8.68244848e-03 9.07355447e+01] [-1.82615086e-01 9.83183135e-01 -1.62900584e-03 -1.46463132e+01] [-8.83392979e-03 1.60025420e-05 9.99960980e-01 -2.01464078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.76, Y:-14.65, Z:-2.02 [[ 9.84123947e-01 1.77296677e-01 8.12062284e-03 9.07634221e+01] [-1.77290150e-01 9.84157449e-01 -1.52234881e-03 -1.46520540e+01] [-8.26187885e-03 5.84734788e-05 9.99965868e-01 -2.01547410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:90.79, Y:-14.66, Z:-2.02 [[ 9.84652382e-01 1.74337834e-01 8.12438837e-03 9.07909538e+01] [-1.74331205e-01 9.84685896e-01 -1.52249257e-03 -1.46578932e+01] [-8.26539870e-03 8.27915228e-05 9.99965838e-01 -2.01625846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:-14.66, Z:-2.02 [[ 9.85589307e-01 1.68947796e-01 8.38811954e-03 9.08172499e+01] [-1.68940539e-01 9.85624992e-01 -1.57141420e-03 -1.46635526e+01] [-8.53302722e-03 1.31675591e-04 9.99963584e-01 -2.01624545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.84, Y:-14.67, Z:-2.02 [[ 9.85993615e-01 1.66579576e-01 8.23628673e-03 9.08435739e+01] [-1.66572502e-01 9.86028003e-01 -1.54233600e-03 -1.46694566e+01] [-8.37813103e-03 1.48794556e-04 9.99964892e-01 -2.01680535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.978623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:90.87, Y:-14.68, Z:-2.01 [[ 9.86317898e-01 1.64676717e-01 7.65397821e-03 9.08715490e+01] [-1.64670556e-01 9.86347583e-01 -1.43265962e-03 -1.46756420e+01] [-7.78540860e-03 1.52672976e-04 9.99969682e-01 -2.00910565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.90, Y:-14.68, Z:-2.02 [[ 9.86937600e-01 1.60870390e-01 8.65399724e-03 9.08973869e+01] [-1.60862373e-01 9.86975519e-01 -1.61920981e-03 -1.46838753e+01] [-8.80176633e-03 2.05956510e-04 9.99961242e-01 -2.01716620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.038623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:90.92, Y:-14.69, Z:-2.02 [[ 9.87132782e-01 1.59667834e-01 8.66330934e-03 9.09242996e+01] [-1.59659761e-01 9.87170773e-01 -1.62008290e-03 -1.46908500e+01] [-8.81084091e-03 2.16055042e-04 9.99961160e-01 -2.01792485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.95, Y:-14.70, Z:-2.02 [[ 9.87302254e-01 1.58617718e-01 8.64174451e-03 9.09522106e+01] [-1.58609650e-01 9.87340047e-01 -1.61538002e-03 -1.46978822e+01] [-8.78856833e-03 2.24204254e-04 9.99961355e-01 -2.01808191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.098623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:90.98, Y:-14.71, Z:-2.02 [[ 9.87486506e-01 1.57411373e-01 9.59480683e-03 9.09791160e+01] [-1.57401375e-01 9.87533084e-01 -1.79312060e-03 -1.47064258e+01] [-9.75744676e-03 2.60446613e-04 9.99952361e-01 -2.01821061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.01, Y:-14.71, Z:-2.02 [[ 9.87525262e-01 1.57139097e-01 1.00579054e-02 9.10067370e+01] [-1.57128104e-01 9.87576442e-01 -1.87896773e-03 -1.47134973e+01] [-1.02282097e-02 2.75148488e-04 9.99947653e-01 -2.01838810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.03, Y:-14.72, Z:-2.02 [[ 9.87457023e-01 1.57594836e-01 9.61745648e-03 9.10334320e+01] [-1.57584809e-01 9.87503823e-01 -1.79644314e-03 -1.47225382e+01] [-9.78038520e-03 2.58345352e-04 9.99952138e-01 -2.01864183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:91.06, Y:-14.73, Z:-2.02 [[ 9.87368607e-01 1.58148659e-01 9.60394844e-03 9.10616872e+01] [-1.58138693e-01 9.87415282e-01 -1.79324072e-03 -1.47301740e+01] [-9.76668407e-03 2.51833745e-04 9.99952273e-01 -2.01959830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:91.09, Y:-14.74, Z:-2.02 [[ 9.87206428e-01 1.59172615e-01 9.35669894e-03 9.10888954e+01] [-1.59163204e-01 9.87250740e-01 -1.74677657e-03 -1.47373706e+01] [-9.51544695e-03 2.35186877e-04 9.99954699e-01 -2.01993267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.12, Y:-14.75, Z:-2.02 [[ 9.86725697e-01 1.62166782e-01 8.62166000e-03 9.11159262e+01] [-1.62158909e-01 9.86763345e-01 -1.60915089e-03 -1.47466348e+01] [-8.76848888e-03 1.89711548e-04 9.99961538e-01 -2.01947574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.14, Y:-14.75, Z:-2.02 [[ 9.86449231e-01 1.63848725e-01 8.45631721e-03 9.11440256e+01] [-1.63841218e-01 9.86485462e-01 -1.57766631e-03 -1.47538691e+01] [-8.60053260e-03 1.70794407e-04 9.99963000e-01 -2.02015851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.17, Y:-14.76, Z:-2.02 [[ 9.86150227e-01 1.65665038e-01 7.92620810e-03 9.11721501e+01] [-1.65658504e-01 9.86182070e-01 -1.47847727e-03 -1.47613222e+01] [-8.06161630e-03 1.44956924e-04 9.99967494e-01 -2.02091171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.20, Y:-14.77, Z:-2.02 [[ 9.85526548e-01 1.69336861e-01 7.90261684e-03 9.11989888e+01] [-1.69330486e-01 9.85558225e-01 -1.47385938e-03 -1.47705402e+01] [-8.03806775e-03 1.14373601e-04 9.99967688e-01 -2.02068011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.23, Y:-14.78, Z:-2.02 [[ 9.85239366e-01 1.70976871e-01 8.38461834e-03 9.12273110e+01] [-1.70969758e-01 9.85275037e-01 -1.56320521e-03 -1.47775544e+01] [-8.52842708e-03 1.06615143e-04 9.99963627e-01 -2.02086718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.25, Y:-14.79, Z:-2.02 [[ 9.84666095e-01 1.74203649e-01 9.26117254e-03 9.12538010e+01] [-1.74195118e-01 9.84709643e-01 -1.72618397e-03 -1.47858150e+01] [-9.42027346e-03 8.64637895e-05 9.99955625e-01 -2.02060174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428623853 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:91.28, Y:-14.79, Z:-2.01 [[ 9.84305565e-01 1.76256127e-01 8.73686538e-03 9.12823373e+01] [-1.76248621e-01 9.84344337e-01 -1.62787419e-03 -1.47925541e+01] [-8.88700676e-03 6.24651517e-05 9.99960508e-01 -2.01480540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:91.31, Y:-14.80, Z:-2.02 [[ 9.83970302e-01 1.78096865e-01 9.16250874e-03 9.13088729e+01] [-1.78088693e-01 9.84012959e-01 -1.70678837e-03 -1.47996283e+01] [-9.32000100e-03 4.76898601e-05 9.99956567e-01 -2.02146399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:-14.81, Z:-2.02 [[ 9.83578750e-01 1.80246177e-01 9.17375273e-03 9.13358135e+01] [-1.80238083e-01 9.83621530e-01 -1.70828256e-03 -1.48062664e+01] [-9.33141210e-03 2.67708139e-05 9.99956461e-01 -2.02229616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:-14.81, Z:-2.02 [[ 9.82944230e-01 1.83637134e-01 9.90168997e-03 9.13638625e+01] [-1.83627885e-01 9.82994101e-01 -1.84299504e-03 -1.48146617e+01] [-1.00717452e-02 -6.66505407e-06 9.99949279e-01 -2.02268909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:-14.82, Z:-2.02 [[ 9.82712726e-01 1.84856006e-01 1.01958511e-02 9.13914406e+01] [-1.84846269e-01 9.82765616e-01 -1.89737087e-03 -1.48209238e+01] [-1.03708723e-02 -2.00945366e-05 9.99946221e-01 -2.02327047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.42, Y:-14.83, Z:-2.02 [[ 9.82316320e-01 1.87005708e-01 9.13851738e-03 9.14181426e+01] [-1.86997984e-01 9.82358826e-01 -1.70009221e-03 -1.48286284e+01] [-9.29523015e-03 -3.88559994e-05 9.99956798e-01 -2.02382627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.45, Y:-14.84, Z:-2.02 [[ 9.82125573e-01 1.88032521e-01 8.55158127e-03 9.14465135e+01] [-1.88025801e-01 9.82162802e-01 -1.59036041e-03 -1.48352530e+01] [-8.69808450e-03 -4.59842859e-05 9.99962170e-01 -2.02419966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.47, Y:-14.84, Z:-2.02 [[ 9.81884829e-01 1.89295058e-01 8.34051646e-03 9.14734182e+01] [-1.89288714e-01 9.81920250e-01 -1.55084042e-03 -1.48415123e+01] [-8.48328844e-03 -5.60189567e-05 9.99964015e-01 -2.02486369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.50, Y:-14.85, Z:-2.02 [[ 9.81319045e-01 1.92216042e-01 8.11939898e-03 9.15007764e+01] [-1.92210133e-01 9.81352631e-01 -1.50922597e-03 -1.48480324e+01] [-8.25809100e-03 -7.95985720e-05 9.99965898e-01 -2.02499625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.53, Y:-14.85, Z:-2.03 [[ 9.80888175e-01 1.94390846e-01 8.40165940e-03 9.15291277e+01] [-1.94384604e-01 9.80924150e-01 -1.56103712e-03 -1.48535914e+01] [-8.54484194e-03 -1.01950390e-04 9.99963487e-01 -2.02547319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:-14.86, Z:-2.03 [[ 9.79991081e-01 1.98852081e-01 8.67930248e-03 9.15579050e+01] [-1.98845599e-01 9.80029504e-01 -1.61218505e-03 -1.48586576e+01] [-8.82655886e-03 -1.45914132e-04 9.99961035e-01 -2.02568667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.58, Y:-14.86, Z:-2.03 [[ 9.79504385e-01 2.01228258e-01 8.85139487e-03 9.15849457e+01] [-2.01221616e-01 9.79544363e-01 -1.64386359e-03 -1.48632550e+01] [-9.00112576e-03 -1.70920379e-04 9.99959474e-01 -2.02630828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.61, Y:-14.87, Z:-2.03 [[ 9.79032474e-01 2.03505130e-01 9.00432609e-03 9.16131750e+01] [-2.03498360e-01 9.79073860e-01 -1.67146778e-03 -1.48678389e+01] [-9.15605257e-03 -1.95944358e-04 9.99958063e-01 -2.02659425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.818623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.64, Y:-14.87, Z:-2.03 [[ 9.78213869e-01 2.07394586e-01 9.22557993e-03 9.16421459e+01] [-2.07387657e-01 9.78257343e-01 -1.71206422e-03 -1.48707298e+01] [-9.38006416e-03 -2.38506437e-04 9.99955978e-01 -2.02682843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.67, Y:-14.87, Z:-2.03 [[ 9.77864918e-01 2.09033323e-01 9.23429139e-03 9.16703542e+01] [-2.09026457e-01 9.77908485e-01 -1.71322747e-03 -1.48747560e+01] [-9.38841354e-03 -2.54906178e-04 9.99955895e-01 -2.02704993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.70, Y:-14.88, Z:-2.03 [[ 9.77311729e-01 2.11577669e-01 9.83227625e-03 9.16979217e+01] [-2.11570018e-01 9.77361142e-01 -1.82378368e-03 -1.48767969e+01] [-9.99555665e-03 -2.97809682e-04 9.99949999e-01 -2.02745371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:91.73, Y:-14.88, Z:-2.03 [[ 9.77145544e-01 2.12343329e-01 9.84361272e-03 9.17253752e+01] [-2.12335705e-01 9.77195076e-01 -1.82527852e-03 -1.48800387e+01] [-1.00067156e-02 -3.06587674e-04 9.99949885e-01 -2.02761553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:91.75, Y:-14.88, Z:-2.03 [[ 9.77081606e-01 2.12628008e-01 1.00431500e-02 9.17536849e+01] [-2.12620094e-01 9.77133169e-01 -1.86155573e-03 -1.48832474e+01] [-1.02093138e-02 -3.16483626e-04 9.99947834e-01 -2.02856891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:-14.89, Z:-2.03 [[ 9.77033811e-01 2.12852522e-01 9.93660464e-03 9.17807791e+01] [-2.12844793e-01 9.77084287e-01 -1.84119941e-03 -1.48859445e+01] [-1.01008042e-02 -3.16040491e-04 9.99948936e-01 -2.02899496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:-14.89, Z:-2.03 [[ 9.77000593e-01 2.12974158e-01 1.05759345e-02 9.18087425e+01] [-2.12965421e-01 9.77057774e-01 -1.95856725e-03 -1.48868021e+01] [-1.07504232e-02 -3.38786977e-04 9.99942155e-01 -2.02959884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.84, Y:-14.89, Z:-2.03 [[ 9.77076597e-01 2.12652330e-01 1.00155077e-02 9.18355799e+01] [-2.12644484e-01 9.77127876e-01 -1.85423287e-03 -1.48895207e+01] [-1.01807387e-02 -3.18014911e-04 9.99948124e-01 -2.03002216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.058623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.86, Y:-14.89, Z:-2.03 [[ 9.77088905e-01 2.12595759e-01 1.00156967e-02 9.18636194e+01] [-2.12587920e-01 9.77140185e-01 -1.85321091e-03 -1.48945789e+01] [-1.01807245e-02 -3.18464308e-04 9.99948124e-01 -2.03057194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:91.89, Y:-14.89, Z:-2.03 [[ 9.77227245e-01 2.11999276e-01 9.12238350e-03 9.18919391e+01] [-2.11992750e-01 9.77269782e-01 -1.68762826e-03 -1.48949656e+01] [-9.27280570e-03 -2.84682846e-04 9.99956966e-01 -2.03171876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.118623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:91.92, Y:-14.90, Z:-2.03 [[ 9.77250968e-01 2.11902552e-01 8.82351647e-03 9.19190763e+01] [-2.11896447e-01 9.77290762e-01 -1.63184312e-03 -1.48972435e+01] [-8.96893286e-03 -2.74951521e-04 9.99959741e-01 -2.03289040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:91.95, Y:-14.90, Z:-2.03 [[ 9.77256907e-01 2.11905635e-01 8.05848029e-03 9.19465834e+01] [-2.11900548e-01 9.77290099e-01 -1.48977612e-03 -1.48995509e+01] [-8.19116496e-03 -2.51702390e-04 9.99966420e-01 -2.02535160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:91.97, Y:-14.90, Z:-2.03 [[ 9.77438946e-01 2.11030251e-01 8.90735851e-03 9.19740610e+01] [-2.11024008e-01 9.77479493e-01 -1.64567023e-03 -1.49022771e+01] [-9.05404649e-03 -2.71124317e-04 9.99958975e-01 -2.03368612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.00, Y:-14.90, Z:-2.03 [[ 9.77719987e-01 2.09696256e-01 9.54505762e-03 9.20018972e+01] [-2.09689029e-01 9.77766538e-01 -1.76295549e-03 -1.49024806e+01] [-9.70252311e-03 -2.77817047e-04 9.99952891e-01 -2.03330373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.238623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.03, Y:-14.90, Z:-2.03 [[ 9.77967018e-01 2.08542826e-01 9.50798320e-03 9.20304426e+01] [-2.08535613e-01 9.78013200e-01 -1.75475936e-03 -1.49045990e+01] [-9.66487554e-03 -2.66656329e-04 9.99953258e-01 -2.03378764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26862385300001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:92.06, Y:-14.90, Z:-2.03 [[ 9.78538815e-01 2.05875704e-01 8.77398598e-03 9.20583995e+01] [-2.05869454e-01 9.78578124e-01 -1.61933621e-03 -1.49032459e+01] [-8.91941273e-03 -2.21712368e-04 9.99960197e-01 -2.03480709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.09, Y:-14.91, Z:-2.04 [[ 9.78859436e-01 2.04349658e-01 8.68464147e-03 9.20860666e+01] [-2.04343489e-01 9.78897939e-01 -1.60124588e-03 -1.49059513e+01] [-8.82859168e-03 -2.07255302e-04 9.99961006e-01 -2.03577987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.11, Y:-14.91, Z:-2.04 [[ 9.79217546e-01 2.02628381e-01 8.64507090e-03 9.21136900e+01] [-2.02622206e-01 9.79255688e-01 -1.59336177e-03 -1.49089606e+01] [-8.78859517e-03 -1.91435536e-04 9.99961361e-01 -2.03645482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:92.14, Y:-14.91, Z:-2.04 [[ 9.79715932e-01 2.00201478e-01 8.72131092e-03 9.21406774e+01] [-2.00195103e-01 9.79754734e-01 -1.60688866e-03 -1.49089450e+01] [-8.86644715e-03 -1.71669319e-04 9.99960678e-01 -2.03596735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.17, Y:-14.91, Z:-2.04 [[ 9.79937050e-01 1.99113370e-01 8.78883642e-03 9.21674483e+01] [-1.99106855e-01 9.79976448e-01 -1.61900863e-03 -1.49104192e+01] [-8.93521896e-03 -1.63391037e-04 9.99960067e-01 -2.03642127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.20, Y:-14.91, Z:-2.04 [[ 9.80167062e-01 1.97999192e-01 8.29760125e-03 9.21957809e+01] [-1.97993357e-01 9.80202172e-01 -1.52699675e-03 -1.49098169e+01] [-8.43567089e-03 -1.46158010e-04 9.99964408e-01 -2.03649842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.22, Y:-14.91, Z:-2.04 [[ 9.80307626e-01 1.97301639e-01 8.30792391e-03 9.22228961e+01] [-1.97295765e-01 9.80342819e-01 -1.52890002e-03 -1.49123775e+01] [-8.44626803e-03 -1.40325855e-04 9.99964320e-01 -2.03757454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.478623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:92.25, Y:-14.91, Z:-2.03 [[ 9.80394853e-01 1.96891992e-01 7.71209866e-03 9.22514088e+01] [-1.96886928e-01 9.80425177e-01 -1.41785461e-03 -1.49149708e+01] [-7.84029991e-03 -1.28354054e-04 9.99969256e-01 -2.03238866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.28, Y:-14.92, Z:-2.04 [[ 9.80636459e-01 1.95663962e-01 8.23097642e-03 9.22790194e+01] [-1.95658157e-01 9.80670994e-01 -1.51256028e-03 -1.49172216e+01] [-8.36783336e-03 -1.27185912e-04 9.99964981e-01 -2.03875862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.538623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:92.31, Y:-14.92, Z:-2.03 [[ 9.81057849e-01 1.93552365e-01 7.93594802e-03 9.23074516e+01] [-1.93546904e-01 9.81089940e-01 -1.45784058e-03 -1.49167559e+01] [-8.06804726e-03 -1.05752227e-04 9.99967447e-01 -2.03232570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:92.33, Y:-14.92, Z:-2.04 [[ 9.81411821e-01 1.91745976e-01 8.01984334e-03 9.23341187e+01] [-1.91740342e-01 9.81444584e-01 -1.47277598e-03 -1.49197647e+01] [-8.15343068e-03 -9.23277495e-05 9.99966756e-01 -2.03995911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.598623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:92.36, Y:-14.92, Z:-2.04 [[ 9.82161095e-01 1.87882222e-01 7.73653262e-03 9.23627116e+01] [-1.87876865e-01 9.82191563e-01 -1.42001193e-03 -1.49188796e+01] [-7.86555206e-03 -5.88350232e-05 9.99969064e-01 -2.04013659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.39, Y:-14.92, Z:-2.04 [[ 9.82550226e-01 1.85830761e-01 7.87287978e-03 9.23896065e+01] [-1.85825152e-01 9.82581766e-01 -1.44455561e-03 -1.49210476e+01] [-8.00419098e-03 -4.36306364e-05 9.99967965e-01 -2.04078931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65862385300001 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:92.42, Y:-14.92, Z:-2.04 [[ 9.83013141e-01 1.83379945e-01 7.54724184e-03 9.24165768e+01] [-1.83374722e-01 9.83042113e-01 -1.38421524e-03 -1.49244911e+01] [-7.67309388e-03 -2.32716059e-05 9.99970561e-01 -2.03567110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.44, Y:-14.93, Z:-2.04 [[ 9.83962578e-01 1.78167905e-01 8.59322242e-03 9.24443178e+01] [-1.78160944e-01 9.84000100e-01 -1.57497732e-03 -1.49280595e+01] [-8.73634213e-03 1.87421182e-05 9.99961837e-01 -2.04157565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.47, Y:-14.93, Z:-2.04 [[ 9.84402056e-01 1.75704863e-01 8.96617789e-03 9.24714963e+01] [-1.75697189e-01 9.84442888e-01 -1.64271800e-03 -1.49312158e+01] [-9.11532360e-03 4.17627325e-05 9.99958454e-01 -2.04169716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74862385300001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:92.50, Y:-14.93, Z:-2.04 [[ 9.84788224e-01 1.73515000e-01 9.20317726e-03 9.24980380e+01] [-1.73506827e-01 9.84831225e-01 -1.68527999e-03 -1.49345106e+01] [-9.35599769e-03 6.28297982e-05 9.99956230e-01 -2.04183623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77862385300001 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:92.53, Y:-14.94, Z:-2.04 [[ 9.85492732e-01 1.69490379e-01 8.77985545e-03 9.25257578e+01] [-1.69482787e-01 9.85531837e-01 -1.60699462e-03 -1.49367535e+01] [-8.92519719e-03 9.56471426e-05 9.99960165e-01 -2.03580033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.55, Y:-14.94, Z:-2.04 [[ 9.85828775e-01 1.67500436e-01 9.23206483e-03 9.25525502e+01] [-1.67491962e-01 9.85871995e-01 -1.68913568e-03 -1.49409965e+01] [-9.38456514e-03 1.18901912e-04 9.99955957e-01 -2.04302276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.838623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:92.58, Y:-14.94, Z:-2.04 [[ 9.86277125e-01 1.64851474e-01 9.02354899e-03 9.25805000e+01] [-1.64843274e-01 9.86318393e-01 -1.65014208e-03 -1.49448782e+01] [-9.17212069e-03 1.40026021e-04 9.99957925e-01 -2.04343057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.868623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:92.61, Y:-14.95, Z:-2.04 [[ 9.86451577e-01 1.63821983e-01 8.69737115e-03 9.26078897e+01] [-1.63814331e-01 9.86489907e-01 -1.58995301e-03 -1.49497985e+01] [-8.84033812e-03 1.43657625e-04 9.99960913e-01 -2.04387355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.898623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:92.63, Y:-14.95, Z:-2.04 [[ 9.86645859e-01 1.62662174e-01 8.42410294e-03 9.26349228e+01] [-1.62654956e-01 9.86681810e-01 -1.53954680e-03 -1.49544452e+01] [-8.56233516e-03 1.48765380e-04 9.99963331e-01 -2.04438387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:92.66, Y:-14.96, Z:-2.05 [[ 9.86913337e-01 1.61035798e-01 8.33884745e-03 9.26628940e+01] [-1.61028674e-01 9.86948553e-01 -1.52311077e-03 -1.49595085e+01] [-8.47528879e-03 1.60384786e-04 9.99964071e-01 -2.04521879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.958623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:92.69, Y:-14.96, Z:-2.05 [[ 9.87035141e-01 1.60305594e-01 7.98417421e-03 9.26890205e+01] [-1.60299043e-01 9.87067420e-01 -1.45793616e-03 -1.49642050e+01] [-8.11463356e-03 1.59178743e-04 9.99967063e-01 -2.04535983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:92.72, Y:-14.97, Z:-2.05 [[ 9.87198940e-01 1.59262193e-01 8.59108359e-03 9.27154418e+01] [-1.59254576e-01 9.87236305e-01 -1.56790472e-03 -1.49694943e+01] [-8.73113757e-03 1.79664501e-04 9.99961867e-01 -2.04557861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:92.74, Y:-14.97, Z:-2.05 [[ 9.87254283e-01 1.58895685e-01 9.00786455e-03 9.27425656e+01] [-1.58887305e-01 9.87295358e-01 -1.64301800e-03 -1.49749146e+01] [-9.15449133e-03 1.90841236e-04 9.99958079e-01 -2.04594308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:92.77, Y:-14.98, Z:-2.05 [[ 9.87360022e-01 1.58232173e-01 9.09758468e-03 9.27696237e+01] [-1.58223603e-01 9.87401914e-01 -1.65874350e-03 -1.49798625e+01] [-9.24543911e-03 1.98324394e-04 9.99957240e-01 -2.04596452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:92.80, Y:-14.99, Z:-2.05 [[ 9.87571271e-01 1.56891567e-01 9.38198470e-03 9.27962981e+01] [-1.56882398e-01 9.87615810e-01 -1.70998566e-03 -1.49856605e+01] [-9.53407876e-03 2.16864448e-04 9.99954526e-01 -2.04627819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.82, Y:-14.99, Z:-2.05 [[ 9.87687866e-01 1.56152067e-01 9.44518832e-03 9.28238420e+01] [-1.56142749e-01 9.87733001e-01 -1.72058129e-03 -1.49914955e+01] [-9.59799653e-03 2.24599591e-04 9.99953913e-01 -2.04682717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13862385300001 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:92.85, Y:-15.00, Z:-2.04 [[ 9.87780990e-01 1.55592437e-01 8.92806003e-03 9.28509877e+01] [-1.55584094e-01 9.87821313e-01 -1.62581375e-03 -1.49971283e+01] [-9.07229230e-03 2.16883786e-04 9.99958822e-01 -2.04056560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:92.88, Y:-15.00, Z:-2.04 [[ 9.87940234e-01 1.54575766e-01 8.96805759e-03 9.28778750e+01] [-1.54567312e-01 9.87980911e-01 -1.63244999e-03 -1.50040957e+01] [-9.11260692e-03 2.26594468e-04 9.99958454e-01 -2.03993256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.198623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:92.90, Y:-15.01, Z:-2.05 [[ 9.88075069e-01 1.53656284e-01 9.86938789e-03 9.29044456e+01] [-1.53646006e-01 9.88124324e-01 -1.79578863e-03 -1.50106928e+01] [-1.00281164e-02 2.57981936e-04 9.99949684e-01 -2.04829737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.93, Y:-15.02, Z:-2.05 [[ 9.88162928e-01 1.53074935e-01 1.01040673e-02 9.29308213e+01] [-1.53064143e-01 9.88214547e-01 -1.83752817e-03 -1.50194822e+01] [-1.02662658e-02 2.69206810e-04 9.99947264e-01 -2.04902776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.258623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:92.96, Y:-15.03, Z:-2.05 [[ 9.88169579e-01 1.53057324e-01 9.71281786e-03 9.29582643e+01] [-1.53047358e-01 9.88217278e-01 -1.76561534e-03 -1.50258347e+01] [-9.86861479e-03 2.58206260e-04 9.99951271e-01 -2.04964404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.99, Y:-15.03, Z:-2.05 [[ 9.88184103e-01 1.52989452e-01 9.29550658e-03 9.29855641e+01] [-1.52980324e-01 9.88227791e-01 -1.68937186e-03 -1.50319132e+01] [-9.44453401e-03 2.47380813e-04 9.99955369e-01 -2.05046265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.318623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.01, Y:-15.04, Z:-2.05 [[ 9.88155647e-01 1.53193389e-01 8.95556223e-03 9.30130363e+01] [-1.53184933e-01 9.88196200e-01 -1.62677170e-03 -1.50398572e+01] [-9.09906324e-03 2.35646450e-04 9.99958575e-01 -2.05133089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:93.04, Y:-15.05, Z:-2.05 [[ 9.88140046e-01 1.53306481e-01 8.73914729e-03 9.30395646e+01] [-1.53298435e-01 9.88178663e-01 -1.58718588e-03 -1.50470255e+01] [-8.87916477e-03 2.28664325e-04 9.99960553e-01 -2.05178100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:93.07, Y:-15.06, Z:-2.05 [[ 9.88056056e-01 1.53854946e-01 8.59564415e-03 9.30665198e+01] [-1.53847188e-01 9.88093420e-01 -1.56049924e-03 -1.50570678e+01] [-8.73338996e-03 2.19445043e-04 9.99961839e-01 -2.05274007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.09, Y:-15.06, Z:-2.05 [[ 9.88027245e-01 1.54023187e-01 8.88941597e-03 9.30930790e+01] [-1.54014900e-01 9.88067208e-01 -1.61348319e-03 -1.50645618e+01] [-9.03185424e-03 2.25062836e-04 9.99959187e-01 -2.05282195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.12, Y:-15.07, Z:-2.05 [[ 9.88018530e-01 1.54075648e-01 8.94864939e-03 9.31198193e+01] [-1.54067257e-01 9.88059029e-01 -1.62375096e-03 -1.50724698e+01] [-9.09197431e-03 2.25602175e-04 9.99958642e-01 -2.05289484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46862385300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:93.15, Y:-15.08, Z:-2.05 [[ 9.87887860e-01 1.54904542e-01 9.06414731e-03 9.31458301e+01] [-1.54895973e-01 9.87929418e-01 -1.64408400e-03 -1.50834130e+01] [-9.20941385e-03 2.20170708e-04 9.99957568e-01 -2.05351739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.17, Y:-15.09, Z:-2.05 [[ 9.87805471e-01 1.55448457e-01 8.72522058e-03 9.31736071e+01] [-1.55440544e-01 9.87843983e-01 -1.58193022e-03 -1.50910506e+01] [-8.86506526e-03 2.06386287e-04 9.99960683e-01 -2.05336624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.20, Y:-15.10, Z:-2.05 [[ 9.87653161e-01 1.56423303e-01 8.54300579e-03 9.32013433e+01] [-1.56415755e-01 9.87690089e-01 -1.54873873e-03 -1.50988862e+01] [-8.68010098e-03 1.93355994e-04 9.99962309e-01 -2.05417675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.558623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.23, Y:-15.11, Z:-2.05 [[ 9.87118632e-01 1.59783578e-01 8.12494114e-03 9.32280133e+01] [-1.59776867e-01 9.87152057e-01 -1.47274182e-03 -1.51087361e+01] [-8.25587232e-03 1.55593249e-04 9.99965908e-01 -2.05449613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.26, Y:-15.12, Z:-2.06 [[ 9.86731750e-01 1.62156230e-01 8.11239544e-03 9.32564196e+01] [-1.62149624e-01 9.86765088e-01 -1.46992067e-03 -1.51162273e+01] [-8.24338540e-03 1.34995521e-04 9.99966014e-01 -2.05530111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.618623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:93.28, Y:-15.13, Z:-2.06 [[ 9.85753437e-01 1.68003001e-01 8.07173212e-03 9.32840310e+01] [-1.67996661e-01 9.85786480e-01 -1.46204507e-03 -1.51252564e+01] [-8.20263235e-03 8.51919116e-05 9.99966354e-01 -2.05550789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.31, Y:-15.13, Z:-2.06 [[ 9.85160711e-01 1.71433182e-01 8.30891152e-03 9.33122407e+01] [-1.71426587e-01 9.85195747e-01 -1.50481487e-03 -1.51314098e+01] [-8.44387949e-03 5.81161447e-05 9.99964348e-01 -2.05556116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.678623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:93.34, Y:-15.14, Z:-2.06 [[ 9.84539691e-01 1.74948235e-01 8.64358365e-03 9.33392441e+01] [-1.74941237e-01 9.84577632e-01 -1.56509517e-03 -1.51371308e+01] [-8.78408976e-03 2.87791029e-05 9.99961419e-01 -2.05647214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:93.37, Y:-15.14, Z:-2.06 [[ 9.83868777e-01 1.78685526e-01 8.58563148e-03 9.33671702e+01] [-1.78678769e-01 9.83906237e-01 -1.55397051e-03 -1.51433463e+01] [-8.72512839e-03 -5.16700348e-06 9.99961935e-01 -2.05695951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.738623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.39, Y:-15.15, Z:-2.06 [[ 9.82594767e-01 1.85577398e-01 8.27968498e-03 9.33937715e+01] [-1.85571358e-01 9.82629648e-01 -1.49861201e-03 -1.51505614e+01] [-8.41397246e-03 -6.39440670e-05 9.99964600e-01 -2.05728700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.42, Y:-15.16, Z:-2.06 [[ 9.81971349e-01 1.88840737e-01 8.45251977e-03 9.34204706e+01] [-1.88834569e-01 9.82007723e-01 -1.52914637e-03 -1.51553983e+01] [-8.58920481e-03 -9.45500036e-05 9.99963108e-01 -2.05757852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79862385300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:93.45, Y:-15.16, Z:-2.06 [[ 9.80787725e-01 1.94859445e-01 9.23228492e-03 9.34467774e+01] [-1.94852362e-01 9.80831163e-01 -1.66929354e-03 -1.51591595e+01] [-9.38059037e-03 -1.61709907e-04 9.99955988e-01 -2.05744720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:93.47, Y:-15.16, Z:-2.05 [[ 9.80296479e-01 1.97313705e-01 9.27980000e-03 9.34741750e+01] [-1.97306667e-01 9.80340383e-01 -1.67699361e-03 -1.51635347e+01] [-9.42825651e-03 -1.87015484e-04 9.99955536e-01 -2.05234571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.50, Y:-15.17, Z:-2.06 [[ 9.79879716e-01 1.99353034e-01 9.70107927e-03 9.35018642e+01] [-1.99345449e-01 9.79927712e-01 -1.75237710e-03 -1.51683479e+01] [-9.85569811e-03 -2.16747231e-04 9.99951408e-01 -2.05824829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.53, Y:-15.17, Z:-2.06 [[ 9.79065693e-01 2.03293971e-01 1.00960218e-02 9.35303632e+01] [-2.03285974e-01 9.79117710e-01 -1.82297852e-03 -1.51705447e+01] [-1.02557943e-02 -2.67563887e-04 9.99947372e-01 -2.05822769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.56, Y:-15.17, Z:-2.06 [[ 9.78743756e-01 2.04864532e-01 9.54900976e-03 9.35575193e+01] [-2.04857457e-01 9.78790300e-01 -1.72369554e-03 -1.51735324e+01] [-9.69960220e-03 -2.69129612e-04 9.99952922e-01 -2.05875498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.59, Y:-15.18, Z:-2.06 [[ 9.78766541e-01 2.04755642e-01 9.54909642e-03 9.35855817e+01] [-2.04748566e-01 9.78813085e-01 -1.72321534e-03 -1.51784276e+01] [-9.69961859e-03 -2.68538283e-04 9.99952922e-01 -2.05930469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.978623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.61, Y:-15.18, Z:-2.06 [[ 9.78516862e-01 2.05966541e-01 9.08486522e-03 9.36133635e+01] [-2.05960202e-01 9.78558998e-01 -1.63804534e-03 -1.51818382e+01] [-9.22745914e-03 -2.68265690e-04 9.99957390e-01 -2.06010244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:93.64, Y:-15.18, Z:-2.06 [[ 9.78166719e-01 2.07618839e-01 9.18087559e-03 9.36411037e+01] [-2.07612443e-01 9.78209760e-01 -1.65473598e-03 -1.51836735e+01] [-9.32437648e-03 -2.87456346e-04 9.99956486e-01 -2.06060612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.038623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:93.67, Y:-15.19, Z:-2.06 [[ 9.78084954e-01 2.08007588e-01 9.09210590e-03 9.36690171e+01] [-2.08001339e-01 9.78127170e-01 -1.63810140e-03 -1.51861528e+01] [-9.23397333e-03 -2.88967868e-04 9.99957324e-01 -2.06062677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.70, Y:-15.19, Z:-2.06 [[ 9.78097200e-01 2.07920120e-01 9.75147443e-03 9.36963340e+01] [-2.07912929e-01 9.78145760e-01 -1.75662109e-03 -1.51856611e+01] [-9.90360024e-03 -3.09311447e-04 9.99950910e-01 -2.06084064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.098623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:93.72, Y:-15.19, Z:-2.06 [[ 9.78165291e-01 2.07581860e-01 1.01210428e-02 9.37243849e+01] [-2.07574115e-01 9.78217598e-01 -1.82134696e-03 -1.51878545e+01] [-1.02786608e-02 -3.19288128e-04 9.99947122e-01 -2.06136411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:93.75, Y:-15.19, Z:-2.06 [[ 9.78450305e-01 2.06212374e-01 1.05573427e-02 9.37524035e+01] [-2.06203871e-01 9.78507208e-01 -1.89952191e-03 -1.51854396e+01] [-1.07221408e-02 -3.18377134e-04 9.99942466e-01 -2.06132740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.78, Y:-15.19, Z:-2.06 [[ 9.78655742e-01 2.05254948e-01 1.01658693e-02 9.37791640e+01] [-2.05247029e-01 9.78708495e-01 -1.82743169e-03 -1.51866232e+01] [-1.03245121e-02 -2.98087965e-04 9.99946656e-01 -2.06209559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.81, Y:-15.19, Z:-2.06 [[ 9.78916315e-01 2.04036441e-01 9.59056822e-03 9.38072478e+01] [-2.04029342e-01 9.78963257e-01 -1.72324526e-03 -1.51886535e+01] [-9.74041873e-03 -2.69844425e-04 9.99952525e-01 -2.06312829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:93.84, Y:-15.19, Z:-2.06 [[ 9.79537489e-01 2.01066248e-01 8.86969266e-03 9.38354122e+01] [-2.01060058e-01 9.79577620e-01 -1.59327867e-03 -1.51880978e+01] [-9.00890700e-03 -2.22664740e-04 9.99959394e-01 -2.06089826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.86, Y:-15.19, Z:-2.06 [[ 9.79898112e-01 1.99304431e-01 8.79960452e-03 9.38630554e+01] [-1.99298274e-01 9.79937601e-01 -1.58008211e-03 -1.51896001e+01] [-8.93798071e-03 -2.05426517e-04 9.99960034e-01 -2.06493655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.89, Y:-15.19, Z:-2.06 [[ 9.80673731e-01 1.95484841e-01 8.04428855e-03 9.38913401e+01] [-1.95479569e-01 9.80706711e-01 -1.44411460e-03 -1.51865253e+01] [-8.17139028e-03 -1.56288804e-04 9.99966601e-01 -2.06494661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.92, Y:-15.19, Z:-2.07 [[ 9.81198552e-01 1.92823165e-01 8.28418280e-03 9.39193966e+01] [-1.92817487e-01 9.81233513e-01 -1.48626535e-03 -1.51880632e+01] [-8.41530419e-03 -1.39013900e-04 9.99964581e-01 -2.06554098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.338623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:93.95, Y:-15.19, Z:-2.07 [[ 9.81794776e-01 1.89764240e-01 8.27950917e-03 9.39478084e+01] [-1.89758465e-01 9.81829680e-01 -1.48483900e-03 -1.51909179e+01] [-8.41083719e-03 -1.13299772e-04 9.99964622e-01 -2.06581277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.368623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.97, Y:-15.19, Z:-2.07 [[ 9.82476027e-01 1.86204897e-01 8.28211812e-03 9.39748485e+01] [-1.86198995e-01 9.82510931e-01 -1.48482395e-03 -1.51936781e+01] [-8.41375308e-03 -8.33181369e-05 9.99964600e-01 -2.06640906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.398623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:94.00, Y:-15.19, Z:-2.07 [[ 9.83889468e-01 1.78528109e-01 9.44615943e-03 9.40029434e+01] [-1.78520089e-01 9.83934812e-01 -1.69236903e-03 -1.51933359e+01] [-9.59654054e-03 -2.12251533e-05 9.99953952e-01 -2.06587043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.03, Y:-15.19, Z:-2.07 [[ 9.85231766e-01 1.70938391e-01 9.92140066e-03 9.40306188e+01] [-1.70929165e-01 9.85281718e-01 -1.77680791e-03 -1.51937660e+01] [-1.00790994e-02 5.47108700e-05 9.99949203e-01 -2.06574940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:94.06, Y:-15.20, Z:-2.07 [[ 9.85893757e-01 1.67094854e-01 9.63375542e-03 9.40581821e+01] [-1.67085981e-01 9.85940821e-01 -1.72438194e-03 -1.51977532e+01] [-9.78644807e-03 9.03919194e-05 9.99952107e-01 -2.06626462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.08, Y:-15.20, Z:-2.07 [[ 9.86512574e-01 1.63410486e-01 9.48442405e-03 9.40846779e+01] [-1.63401721e-01 9.86558157e-01 -1.69709090e-03 -1.52021677e+01] [-9.63425836e-03 1.24430304e-04 9.99953582e-01 -2.06695970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.11, Y:-15.21, Z:-2.07 [[ 9.87139325e-01 1.59569356e-01 9.67334384e-03 9.41119666e+01] [-1.59560062e-01 9.87186707e-01 -1.72994382e-03 -1.52070787e+01] [-9.82544247e-03 1.64216228e-04 9.99951716e-01 -2.06775858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:94.14, Y:-15.21, Z:-2.07 [[ 9.88244966e-01 1.52528155e-01 1.03464671e-02 9.41378091e+01] [-1.52517145e-01 9.88299094e-01 -1.84958088e-03 -1.52134988e+01] [-1.05075172e-02 2.49825377e-04 9.99944763e-01 -2.06792359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.16, Y:-15.22, Z:-2.07 [[ 9.88756556e-01 1.49144977e-01 1.07818626e-02 9.41640345e+01] [-1.49132831e-01 9.88815295e-01 -1.92642095e-03 -1.52185723e+01] [-1.09485866e-02 2.96831661e-04 9.99940018e-01 -2.06821356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.19, Y:-15.23, Z:-2.07 [[ 9.89567564e-01 1.43668881e-01 1.07372686e-02 9.41908105e+01] [-1.43656524e-01 9.89625751e-01 -1.91737240e-03 -1.52251730e+01] [-1.09013443e-02 3.54890851e-04 9.99940516e-01 -2.06837075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.22, Y:-15.23, Z:-2.07 [[ 9.89897352e-01 1.41405961e-01 1.03723599e-02 9.42190763e+01] [-1.41394313e-01 9.89951625e-01 -1.85153858e-03 -1.52315625e+01] [-1.05299531e-02 3.66240434e-04 9.99944491e-01 -2.06882881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:-15.24, Z:-2.07 [[ 9.90155310e-01 1.39617460e-01 9.97127675e-03 9.42465729e+01] [-1.39606609e-01 9.90205447e-01 -1.77961175e-03 -1.52378005e+01] [-1.01220774e-02 3.70035894e-04 9.99948702e-01 -2.06927853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.698623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.27, Y:-15.25, Z:-2.07 [[ 9.90436228e-01 1.37661402e-01 9.24212920e-03 9.42742683e+01] [-1.37652000e-01 9.90479282e-01 -1.64891966e-03 -1.52467059e+01] [-9.38113009e-03 3.60952200e-04 9.99955931e-01 -2.07021300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.30, Y:-15.25, Z:-2.07 [[ 9.90454569e-01 1.37532360e-01 9.19765965e-03 9.43011174e+01] [-1.37523045e-01 9.90497209e-01 -1.64067562e-03 -1.52540743e+01] [-9.33590220e-03 3.60124494e-04 9.99956355e-01 -2.07070674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:94.33, Y:-15.26, Z:-2.07 [[ 9.90439002e-01 1.37641718e-01 9.23797709e-03 9.43295669e+01] [-1.37632332e-01 9.90482018e-01 -1.64715949e-03 -1.52614782e+01] [-9.37676805e-03 3.59966666e-04 9.99955972e-01 -2.07111778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:94.36, Y:-15.27, Z:-2.07 [[ 9.90184319e-01 1.39452651e-01 9.37934764e-03 9.43561702e+01] [-1.39443061e-01 9.90228679e-01 -1.67202583e-03 -1.52703371e+01] [-9.52086746e-03 3.47728820e-04 9.99954615e-01 -2.07087838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:-15.28, Z:-2.07 [[ 9.90002843e-01 1.40727155e-01 9.49938978e-03 9.43839634e+01] [-1.40717382e-01 9.90048359e-01 -1.69276753e-03 -1.52769295e+01] [-9.64307362e-03 3.39115411e-04 9.99953447e-01 -2.07139809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.41, Y:-15.29, Z:-2.07 [[ 9.89485893e-01 1.44280076e-01 1.00462340e-02 9.44113257e+01] [-1.44269333e-01 9.89536839e-01 -1.78970856e-03 -1.52868154e+01] [-1.01993380e-02 3.21527883e-04 9.99947934e-01 -2.07172211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.44, Y:-15.29, Z:-2.07 [[ 9.89201974e-01 1.46228961e-01 9.82575209e-03 9.44389496e+01] [-1.46218785e-01 9.89250729e-01 -1.74997928e-03 -1.52941847e+01] [-9.97603006e-03 2.94373427e-04 9.99950195e-01 -2.07207552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:-15.30, Z:-2.07 [[ 9.88864011e-01 1.48511188e-01 9.61220164e-03 9.44659706e+01] [-1.48501561e-01 9.88910692e-01 -1.71160510e-03 -1.53018083e+01] [-9.75980149e-03 2.65117738e-04 9.99952337e-01 -2.07245790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:-15.31, Z:-2.07 [[ 9.88161642e-01 1.53119581e-01 9.53741996e-03 9.44929895e+01] [-1.53110325e-01 9.88207643e-01 -1.69758980e-03 -1.53120705e+01] [-9.68488554e-03 2.17215652e-04 9.99953077e-01 -2.07335676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.52, Y:-15.32, Z:-2.07 [[ 9.87792590e-01 1.55484252e-01 9.51036741e-03 9.45206558e+01] [-1.55475161e-01 9.87838352e-01 -1.69234302e-03 -1.53191042e+01] [-9.65783836e-03 1.93057989e-04 9.99953343e-01 -2.07368497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.55, Y:-15.33, Z:-2.07 [[ 9.87404856e-01 1.57930096e-01 9.47282251e-03 9.45475877e+01] [-1.57921193e-01 9.87450280e-01 -1.68536290e-03 -1.53262428e+01] [-9.62011077e-03 1.68176079e-04 9.99953712e-01 -2.07422549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.57, Y:-15.34, Z:-2.07 [[ 9.86697280e-01 1.62304261e-01 9.26309424e-03 9.45742212e+01] [-1.62295947e-01 9.86740752e-01 -1.64737951e-03 -1.53358768e+01] [-9.40764929e-03 1.22102237e-04 9.99955740e-01 -2.07445760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.058623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.60, Y:-15.34, Z:-2.08 [[ 9.86345810e-01 1.64442772e-01 8.97318961e-03 9.46022778e+01] [-1.64435064e-01 9.86386620e-01 -1.59519653e-03 -1.53432973e+01] [-9.11335272e-03 9.79084022e-05 9.99958468e-01 -2.07507691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:94.63, Y:-15.35, Z:-2.08 [[ 9.85722573e-01 1.68150778e-01 8.73642797e-03 9.46302526e+01] [-1.68143620e-01 9.85761286e-01 -1.55271300e-03 -1.53522301e+01] [-8.87312237e-03 6.15696287e-05 9.99960631e-01 -2.07588489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.66, Y:-15.36, Z:-2.08 [[ 9.85458501e-01 1.69677707e-01 9.00107807e-03 9.46579718e+01] [-1.69670176e-01 9.85499606e-01 -1.59928779e-03 -1.53590562e+01] [-9.14192238e-03 4.88172462e-05 9.99958211e-01 -2.07669897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:94.69, Y:-15.37, Z:-2.08 [[ 9.85232342e-01 1.70980114e-01 9.11224294e-03 9.46859966e+01] [-1.70972456e-01 9.85274479e-01 -1.61858563e-03 -1.53660807e+01] [-9.25480637e-03 3.67403522e-05 9.99957173e-01 -2.07672277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.178623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:94.71, Y:-15.37, Z:-2.08 [[ 9.84819941e-01 1.73324647e-01 9.39418007e-03 9.47132757e+01] [-1.73316619e-01 9.84864745e-01 -1.66819679e-03 -1.53748167e+01] [-9.54113638e-03 1.47059382e-05 9.99954482e-01 -2.07731856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.74, Y:-15.38, Z:-2.08 [[ 9.84630419e-01 1.74403298e-01 9.29669525e-03 9.47406255e+01] [-1.74395487e-01 9.84674306e-01 -1.65054616e-03 -1.53813031e+01] [-9.44207764e-03 3.87625510e-06 9.99955423e-01 -2.07779864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.238623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:94.77, Y:-15.39, Z:-2.08 [[ 9.84357863e-01 1.75936700e-01 9.26684051e-03 9.47680799e+01] [-1.75929013e-01 9.84401482e-01 -1.64466938e-03 -1.53886874e+01] [-9.41164924e-03 -1.13628681e-05 9.99955709e-01 -2.07827394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:94.80, Y:-15.39, Z:-2.08 [[ 9.84306658e-01 1.76242634e-01 8.88462002e-03 9.47950091e+01] [-1.76235585e-01 9.84346755e-01 -1.57632158e-03 -1.53949110e+01] [-9.02336195e-03 -1.42023804e-05 9.99959289e-01 -2.07895978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.82, Y:-15.40, Z:-2.08 [[ 9.84308169e-01 1.76246137e-01 8.64449069e-03 9.48227602e+01] [-1.76239470e-01 9.84346128e-01 -1.53309402e-03 -1.54013048e+01] [-8.77937283e-03 -1.44634836e-05 9.99961460e-01 -2.07947475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.85, Y:-15.41, Z:-2.08 [[ 9.84361553e-01 1.75961614e-01 8.35724048e-03 9.48507190e+01] [-1.75955375e-01 9.84397029e-01 -1.48178675e-03 -1.54086051e+01] [-8.48758029e-03 -1.18874754e-05 9.99963980e-01 -2.07988791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.88, Y:-15.41, Z:-2.08 [[ 9.84346307e-01 1.76046176e-01 8.37207153e-03 9.48774941e+01] [-1.76039920e-01 9.84381910e-01 -1.48418133e-03 -1.54149584e+01] [-8.50260021e-03 -1.28703932e-05 9.99963852e-01 -2.08040932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:94.91, Y:-15.42, Z:-2.08 [[ 9.84337083e-01 1.76109684e-01 8.11698191e-03 9.49060157e+01] [-1.76103812e-01 9.84370550e-01 -1.43829627e-03 -1.54213979e+01] [-8.24341584e-03 -1.36630945e-05 9.99966022e-01 -2.08077975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.93, Y:-15.43, Z:-2.08 [[ 9.84289359e-01 1.76334297e-01 8.98189140e-03 9.49334902e+01] [-1.76327119e-01 9.84330339e-01 -1.59111709e-03 -1.54280588e+01] [-9.12171672e-03 -1.76314122e-05 9.99958396e-01 -2.08144074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:94.96, Y:-15.43, Z:-2.08 [[ 9.84390985e-01 1.75728843e-01 9.68312345e-03 9.49602829e+01] [-1.75720479e-01 9.84438608e-01 -1.71460564e-03 -1.54349367e+01] [-9.83374624e-03 -1.36807535e-05 9.99951647e-01 -2.08217822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.478623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.99, Y:-15.44, Z:-2.08 [[ 9.84524257e-01 1.74977145e-01 9.74609711e-03 9.49872589e+01] [-1.74968640e-01 9.84572495e-01 -1.72519273e-03 -1.54409712e+01] [-9.89760845e-03 -6.76727289e-06 9.99951017e-01 -2.08253433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.02, Y:-15.45, Z:-2.08 [[ 9.84668215e-01 1.74174999e-01 9.56953015e-03 9.50156248e+01] [-1.74166769e-01 9.84714715e-01 -1.69318528e-03 -1.54468843e+01] [-9.71816770e-03 5.31577361e-07 9.99952777e-01 -2.08329434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.538623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.04, Y:-15.45, Z:-2.08 [[ 9.84829508e-01 1.73268755e-01 9.42224437e-03 9.50424080e+01] [-1.73260738e-01 9.84874580e-01 -1.66684101e-03 -1.54523989e+01] [-9.56854043e-03 9.04919628e-06 9.99954220e-01 -2.08415175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:-15.46, Z:-2.08 [[ 9.85143871e-01 1.71481975e-01 9.24585760e-03 9.50700436e+01] [-1.71474183e-01 9.85187257e-01 -1.63489457e-03 -1.54594150e+01] [-9.38925604e-03 2.51804872e-05 9.99955920e-01 -2.08465753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.10, Y:-15.47, Z:-2.09 [[ 9.85343465e-01 1.70331542e-01 9.24243469e-03 9.50983427e+01] [-1.70323712e-01 9.85386810e-01 -1.63358883e-03 -1.54656561e+01] [-9.38562494e-03 3.54402897e-05 9.99955953e-01 -2.08527792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.13, Y:-15.47, Z:-2.09 [[ 9.85680893e-01 1.68396580e-01 8.70451776e-03 9.51271512e+01] [-1.68389561e-01 9.85719326e-01 -1.53832725e-03 -1.54735985e+01] [-8.83926042e-03 5.05498536e-05 9.99960932e-01 -2.08550463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:-15.48, Z:-2.09 [[ 9.85773684e-01 1.67847073e-01 8.80934341e-03 9.51548074e+01] [-1.67839863e-01 9.85813044e-01 -1.55675168e-03 -1.54799802e+01] [-8.94566186e-03 5.60458506e-05 9.99959985e-01 -2.08623137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.18, Y:-15.49, Z:-2.09 [[ 9.85822770e-01 1.67571664e-01 8.55584586e-03 9.51840033e+01] [-1.67564857e-01 9.85859896e-01 -1.51152071e-03 -1.54865656e+01] [-8.68815334e-03 5.64324474e-05 9.99962256e-01 -2.08646621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.21, Y:-15.49, Z:-2.09 [[ 9.85726410e-01 1.68142979e-01 8.44889644e-03 9.52132042e+01] [-1.68136363e-01 9.85762616e-01 -1.49242386e-03 -1.54934901e+01] [-8.57954685e-03 5.05548928e-05 9.99963194e-01 -2.08618238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.24, Y:-15.50, Z:-2.09 [[ 9.85667795e-01 1.68484368e-01 8.48617675e-03 9.52416251e+01] [-1.68477706e-01 9.85704324e-01 -1.49905333e-03 -1.54985187e+01] [-8.61742817e-03 4.78369928e-05 9.99962868e-01 -2.08698077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.27, Y:-15.51, Z:-2.09 [[ 9.85536509e-01 1.69233660e-01 8.81805360e-03 9.52690600e+01] [-1.69226502e-01 9.85575957e-01 -1.55708588e-03 -1.55054178e+01] [-8.95437296e-03 4.23166113e-05 9.99959908e-01 -2.08764058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.30, Y:-15.51, Z:-2.09 [[ 9.85492492e-01 1.69484684e-01 8.91570734e-03 9.52978476e+01] [-1.69477381e-01 9.85532821e-01 -1.57387213e-03 -1.55121939e+01] [-9.05346942e-03 4.00284434e-05 9.99959016e-01 -2.08819703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.33, Y:-15.52, Z:-2.09 [[ 9.85494486e-01 1.69473087e-01 8.91576511e-03 9.53275560e+01] [-1.69465787e-01 9.85534815e-01 -1.57354477e-03 -1.55173971e+01] [-9.05347041e-03 3.98025502e-05 9.99959016e-01 -2.08877904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.36, Y:-15.52, Z:-2.09 [[ 9.85467596e-01 1.69626284e-01 8.97443571e-03 9.53556399e+01] [-1.69618893e-01 9.85508459e-01 -1.58403061e-03 -1.55238393e+01] [-9.11307553e-03 3.87769908e-05 9.99958474e-01 -2.08918356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.898623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:95.38, Y:-15.53, Z:-2.09 [[ 9.85280604e-01 1.70734858e-01 8.46992050e-03 9.53847844e+01] [-1.70728319e-01 9.85317009e-01 -1.49458495e-03 -1.55312968e+01] [-8.60073448e-03 2.65302704e-05 9.99963013e-01 -2.08940316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:95.41, Y:-15.54, Z:-2.09 [[ 9.85140804e-01 1.71557587e-01 8.09879125e-03 9.54130892e+01] [-1.71551635e-01 9.85174093e-01 -1.42905169e-03 -1.55368327e+01] [-8.22388398e-03 1.84562470e-05 9.99966183e-01 -2.09002772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.958623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.44, Y:-15.54, Z:-2.09 [[ 9.84803256e-01 1.73516789e-01 7.38049193e-03 9.54412889e+01] [-1.73511904e-01 9.84830911e-01 -1.30209720e-03 -1.55435929e+01] [-7.49447232e-03 1.70635620e-06 9.99971916e-01 -2.09113961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:-15.55, Z:-2.09 [[ 9.84598414e-01 1.74682421e-01 7.21213773e-03 9.54698738e+01] [-1.74677788e-01 9.84624828e-01 -1.27229595e-03 -1.55494631e+01] [-7.32349761e-03 -7.09969119e-06 9.99973183e-01 -2.09149267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.50, Y:-15.55, Z:-2.09 [[ 9.84370327e-01 1.75946139e-01 7.61676471e-03 9.54974680e+01] [-1.75941011e-01 9.84399795e-01 -1.34339476e-03 -1.55545258e+01] [-7.73430674e-03 -1.77033415e-05 9.99970090e-01 -2.09199814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:95.53, Y:-15.56, Z:-2.09 [[ 9.83802673e-01 1.79077125e-01 7.98016002e-03 9.55255892e+01] [-1.79071605e-01 9.83835038e-01 -1.40682400e-03 -1.55599461e+01] [-8.10309103e-03 -4.49828538e-05 9.99967168e-01 -2.09193381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.55, Y:-15.57, Z:-2.09 [[ 9.83478448e-01 1.80854823e-01 7.85340463e-03 9.55542846e+01] [-1.80849535e-01 9.83509802e-01 -1.38414832e-03 -1.55651761e+01] [-7.97423033e-03 -5.90045404e-05 9.99968204e-01 -2.09229531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:-15.57, Z:-2.09 [[ 9.82804688e-01 1.84467410e-01 8.16827451e-03 9.55817533e+01] [-1.84461818e-01 9.82838627e-01 -1.43933538e-03 -1.55683672e+01] [-8.29360617e-03 -9.21492091e-05 9.99965603e-01 -2.09339577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:-15.57, Z:-2.09 [[ 9.82427227e-01 1.86471579e-01 8.06805300e-03 9.56100765e+01] [-1.86466196e-01 9.82460350e-01 -1.42103932e-03 -1.55719053e+01] [-8.19152562e-03 -1.08351429e-04 9.99966443e-01 -2.09399258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:-15.58, Z:-2.09 [[ 9.82033071e-01 1.88551589e-01 7.70359818e-03 9.56385607e+01] [-1.88546747e-01 9.82063279e-01 -1.35659887e-03 -1.55755240e+01] [-7.82120976e-03 -1.20263428e-04 9.99969407e-01 -2.09495400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.67, Y:-15.58, Z:-2.10 [[ 9.81629644e-01 1.90669148e-01 6.96542571e-03 9.56660284e+01] [-1.90665243e-01 9.81654349e-01 -1.22649312e-03 -1.55791667e+01] [-7.07149484e-03 -1.24102580e-04 9.99974989e-01 -2.09531137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.69, Y:-15.58, Z:-2.10 [[ 9.80985532e-01 1.93966511e-01 6.66174208e-03 9.56938400e+01] [-1.93963018e-01 9.81008141e-01 -1.17268822e-03 -1.55818593e+01] [-6.76268546e-03 -1.41741419e-04 9.99977123e-01 -2.09691924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:-15.58, Z:-2.10 [[ 9.80767641e-01 1.95068846e-01 6.55582377e-03 9.57223017e+01] [-1.95065491e-01 9.80789541e-01 -1.15361789e-03 -1.55844693e+01] [-6.65491829e-03 -1.47383884e-04 9.99977845e-01 -2.09678894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:95.75, Y:-15.58, Z:-2.10 [[ 9.80484906e-01 1.96457975e-01 7.32214275e-03 9.57514613e+01] [-1.96453834e-01 9.80512230e-01 -1.28761071e-03 -1.55833189e+01] [-7.43241191e-03 -1.75980155e-04 9.99972364e-01 -2.09720204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.78, Y:-15.59, Z:-2.10 [[ 9.80443458e-01 1.96651328e-01 7.67334632e-03 9.57796102e+01] [-1.96646788e-01 9.80473468e-01 -1.34907913e-03 -1.55856927e+01] [-7.78881068e-03 -1.86243103e-04 9.99969649e-01 -2.09759716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:-15.59, Z:-2.10 [[ 9.80507536e-01 1.96299870e-01 8.44582873e-03 9.58082187e+01] [-1.96294362e-01 9.80543890e-01 -1.48437578e-03 -1.55858420e+01] [-8.57288853e-03 -2.02426920e-04 9.99963232e-01 -2.09789606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:-15.59, Z:-2.10 [[ 9.80578430e-01 1.95931764e-01 8.75705277e-03 9.58355418e+01] [-1.95925832e-01 9.80617510e-01 -1.53871836e-03 -1.55873787e+01] [-8.88880309e-03 -2.06898811e-04 9.99960472e-01 -2.09814001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:-15.59, Z:-2.10 [[ 9.80693150e-01 1.95350093e-01 8.90434426e-03 9.58627620e+01] [-1.95343945e-01 9.80733551e-01 -1.56340555e-03 -1.55887812e+01] [-9.03820058e-03 -2.06188621e-04 9.99959133e-01 -2.09853786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:-15.59, Z:-2.10 [[ 9.81067292e-01 1.93431849e-01 9.54398553e-03 9.58915446e+01] [-1.93424707e-01 9.81113693e-01 -1.67466378e-03 -1.55878291e+01] [-9.68766820e-03 -2.03084742e-04 9.99953053e-01 -2.09901216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:-15.59, Z:-2.10 [[ 9.81338215e-01 1.92044951e-01 9.69770640e-03 9.59198636e+01] [-1.92037515e-01 9.81386111e-01 -1.70092093e-03 -1.55896971e+01] [-9.84384765e-03 -1.93144725e-04 9.99951530e-01 -2.09989496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:-15.59, Z:-2.10 [[ 9.82080191e-01 1.88220539e-01 9.56695522e-03 9.59488424e+01] [-1.88213129e-01 9.82126776e-01 -1.67720324e-03 -1.55893126e+01] [-9.71164699e-03 -1.53478494e-04 9.99952829e-01 -2.10032417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:-15.59, Z:-2.10 [[ 9.82584488e-01 1.85555870e-01 9.83582107e-03 9.59771069e+01] [-1.85547909e-01 9.82633707e-01 -1.72385241e-03 -1.55919903e+01] [-9.98488025e-03 -1.31185391e-04 9.99950141e-01 -2.10122070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:-15.59, Z:-2.10 [[ 9.83093467e-01 1.82851402e-01 9.62289870e-03 9.60056797e+01] [-1.82843661e-01 9.83140557e-01 -1.68560332e-03 -1.55948033e+01] [-9.76887692e-03 -1.02380419e-04 9.99952278e-01 -2.10123877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.03, Y:-15.59, Z:-2.10 [[ 9.84212386e-01 1.76735441e-01 9.51643026e-03 9.60338388e+01] [-1.76727587e-01 9.84258392e-01 -1.66660115e-03 -1.55944378e+01] [-9.66117384e-03 -4.15262683e-05 9.99953329e-01 -2.10147351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:-15.60, Z:-2.10 [[ 9.84779834e-01 1.73535958e-01 9.69272024e-03 9.60629705e+01] [-1.73527664e-01 9.84827534e-01 -1.69672766e-03 -1.55974458e+01] [-9.84010103e-03 -1.10519132e-05 9.99951585e-01 -2.10251636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.09, Y:-15.60, Z:-2.10 [[ 9.85909632e-01 1.66996527e-01 9.71375792e-03 9.60910259e+01] [-1.66987882e-01 9.85957482e-01 -1.70003686e-03 -1.55996303e+01] [-9.86125256e-03 5.40028485e-05 9.99951375e-01 -2.10272045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:-15.60, Z:-2.10 [[ 9.86452860e-01 1.63735275e-01 1.00754122e-02 9.61187115e+01] [-1.63725811e-01 9.86504309e-01 -1.76270070e-03 -1.56033888e+01] [-1.02280538e-02 8.92161084e-05 9.99947688e-01 -2.10326937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:-15.61, Z:-2.10 [[ 9.86952725e-01 1.60689037e-01 1.01662688e-02 9.61474237e+01] [-1.60679248e-01 9.87005075e-01 -1.77775837e-03 -1.56074568e+01] [-1.03198252e-02 1.21055035e-04 9.99946742e-01 -2.10349643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:-15.61, Z:-2.10 [[ 9.87785842e-01 1.55525006e-01 9.54476521e-03 9.61744963e+01] [-1.55516140e-01 9.87831942e-01 -1.66877953e-03 -1.56114649e+01] [-9.68816090e-03 1.64031754e-04 9.99953055e-01 -2.10438200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:-15.62, Z:-2.11 [[ 9.88134429e-01 1.53336786e-01 8.84195812e-03 9.62032525e+01] [-1.53329094e-01 9.88173973e-01 -1.54532872e-03 -1.56161703e+01] [-8.97434862e-03 1.71263082e-04 9.99959715e-01 -2.10527929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:-15.62, Z:-2.11 [[ 9.88557892e-01 1.50622359e-01 8.13624053e-03 9.62311780e+01] [-1.50615757e-01 9.88591358e-01 -1.42166931e-03 -1.56217412e+01] [-8.25755226e-03 1.79956394e-04 9.99965890e-01 -2.10646524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.26, Y:-15.63, Z:-2.11 [[ 9.88621341e-01 1.50210443e-01 8.04163863e-03 9.62585786e+01] [-1.50203982e-01 9.88654030e-01 -1.40489263e-03 -1.56264301e+01] [-8.16142798e-03 1.81020695e-04 9.99966679e-01 -2.10740017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85862385300001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:96.29, Y:-15.63, Z:-2.10 [[ 9.88568608e-01 1.50601995e-01 7.15162785e-03 9.62871091e+01] [-1.50596899e-01 9.88594464e-01 -1.24896160e-03 -1.56311538e+01] [-7.25815581e-03 1.57671253e-04 9.99973647e-01 -2.10125025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.31, Y:-15.64, Z:-2.11 [[ 9.88202514e-01 1.52983958e-01 7.19032630e-03 9.63140752e+01] [-1.52978870e-01 9.88228662e-01 -1.25556941e-03 -1.56351783e+01] [-7.29776852e-03 1.40788858e-04 9.99973361e-01 -2.10770581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.34, Y:-15.64, Z:-2.11 [[ 9.87878532e-01 1.55047297e-01 7.50615523e-03 9.63413420e+01] [-1.55041816e-01 9.87907040e-01 -1.31011056e-03 -1.56394874e+01] [-7.61851269e-03 1.30462151e-04 9.99970970e-01 -2.10768785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:-15.64, Z:-2.11 [[ 9.87115733e-01 1.59832888e-01 7.48179185e-03 9.63681765e+01] [-1.59827582e-01 9.87144082e-01 -1.30567483e-03 -1.56431897e+01] [-7.59429633e-03 9.30554682e-05 9.99971159e-01 -2.10805291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.978623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:96.40, Y:-15.65, Z:-2.10 [[ 9.86692424e-01 1.62456335e-01 6.78226315e-03 9.63961031e+01] [-1.62452041e-01 9.86715732e-01 -1.18306387e-03 -1.56471888e+01] [-6.88436196e-03 6.55276672e-05 9.99976300e-01 -2.10191141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:-15.65, Z:-2.11 [[ 9.86273062e-01 1.64960713e-01 7.30827736e-03 9.64237265e+01] [-1.64955799e-01 9.86300137e-01 -1.27420062e-03 -1.56505089e+01] [-7.41834800e-03 5.11670119e-05 9.99972482e-01 -2.10921896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:-15.65, Z:-2.11 [[ 9.85431003e-01 1.69887649e-01 7.99525513e-03 9.64506610e+01] [-1.69881935e-01 9.85463437e-01 -1.39341320e-03 -1.56515463e+01] [-8.11575529e-03 1.48631568e-05 9.99967067e-01 -2.11000131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:-15.65, Z:-2.11 [[ 9.85021017e-01 1.72255926e-01 7.84173077e-03 9.64788384e+01] [-1.72250511e-01 9.85052230e-01 -1.36590834e-03 -1.56544454e+01] [-7.95980019e-03 -5.29371365e-06 9.99968320e-01 -2.10999763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.51, Y:-15.66, Z:-2.11 [[ 9.84322538e-01 1.76220005e-01 7.46001998e-03 9.65069235e+01] [-1.76215222e-01 9.84350806e-01 -1.29883242e-03 -1.56567667e+01] [-7.57215693e-03 -3.60990559e-05 9.99971330e-01 -2.11137050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.53, Y:-15.66, Z:-2.11 [[ 9.84042314e-01 1.77791260e-01 7.14082411e-03 9.65332507e+01] [-1.77786919e-01 9.84068222e-01 -1.24316779e-03 -1.56605880e+01] [-7.24808245e-03 -4.62154137e-05 9.99973731e-01 -2.11240539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:-15.66, Z:-2.11 [[ 9.83828758e-01 1.78981681e-01 6.82153274e-03 9.65615587e+01] [-1.78977753e-01 9.83852405e-01 -1.18695455e-03 -1.56635902e+01] [-6.92382451e-03 -5.31425789e-05 9.99976029e-01 -2.11293415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.59, Y:-15.66, Z:-2.11 [[ 9.83504176e-01 1.80768459e-01 6.50383936e-03 9.65895529e+01] [-1.80764930e-01 9.83525678e-01 -1.13131330e-03 -1.56649253e+01] [-6.60119878e-03 -6.30147118e-05 9.99978210e-01 -2.11308355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.62, Y:-15.67, Z:-2.11 [[ 9.83558946e-01 1.80446010e-01 7.14408974e-03 9.66167041e+01] [-1.80441747e-01 9.83584888e-01 -1.24218107e-03 -1.56679708e+01] [-7.25096532e-03 -6.73337292e-05 9.99973709e-01 -2.11347289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.64, Y:-15.67, Z:-2.11 [[ 9.83929883e-01 1.78347426e-01 8.61283583e-03 9.66448606e+01] [-1.78341159e-01 9.83967577e-01 -1.49642807e-03 -1.56704805e+01] [-8.74163529e-03 -6.36428349e-05 9.99961789e-01 -2.11340434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:-15.67, Z:-2.11 [[ 9.84189623e-01 1.76903123e-01 8.72192374e-03 9.66715683e+01] [-1.76896645e-01 9.84228267e-01 -1.51484646e-03 -1.56744212e+01] [-8.85234496e-03 -5.19828838e-05 9.99960816e-01 -2.11351040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.70, Y:-15.68, Z:-2.11 [[ 9.84927985e-01 1.72720071e-01 9.20009043e-03 9.66989925e+01] [-1.72712689e-01 9.84970952e-01 -1.59692082e-03 -1.56788200e+01] [-9.33764211e-03 -1.61203543e-05 9.99956403e-01 -2.11427537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:-15.68, Z:-2.11 [[ 9.85369076e-01 1.70181080e-01 9.28350896e-03 9.67266183e+01] [-1.70173458e-01 9.85412807e-01 -1.61070395e-03 -1.56834148e+01] [-9.42219996e-03 7.33104426e-06 9.99955610e-01 -2.11420699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.75, Y:-15.69, Z:-2.11 [[ 9.86201815e-01 1.65263465e-01 9.69370468e-03 9.67530445e+01] [-1.65254923e-01 9.86249453e-01 -1.68121755e-03 -1.56878979e+01] [-9.83825478e-03 5.60873800e-05 9.99951602e-01 -2.11474588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:-15.69, Z:-2.11 [[ 9.86595748e-01 1.62883430e-01 9.89025824e-03 9.67791084e+01] [-1.62874425e-01 9.86645317e-01 -1.71464312e-03 -1.56931975e+01] [-1.00374639e-02 8.07894862e-05 9.99949620e-01 -2.11491745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.81, Y:-15.70, Z:-2.12 [[ 9.86992018e-01 1.60452147e-01 1.00928342e-02 9.68069176e+01] [-1.60442656e-01 9.87043615e-01 -1.74836622e-03 -1.56990670e+01] [-1.02425967e-02 1.06302365e-04 9.99947538e-01 -2.11624840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:-15.71, Z:-2.12 [[ 9.87568891e-01 1.56910383e-01 9.31758684e-03 9.68335751e+01] [-1.56902144e-01 9.87612836e-01 -1.61336749e-03 -1.57061106e+01] [-9.45532248e-03 1.31362192e-04 9.99955289e-01 -2.11644598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.86, Y:-15.71, Z:-2.12 [[ 9.87824438e-01 1.55298477e-01 9.23377714e-03 9.68607175e+01] [-1.55290320e-01 9.87867583e-01 -1.59829515e-03 -1.57111041e+01] [-9.36996191e-03 1.44918805e-04 9.99956090e-01 -2.11699370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.89, Y:-15.72, Z:-2.12 [[ 9.87998082e-01 1.54188585e-01 9.25583058e-03 9.68887168e+01] [-1.54180346e-01 9.88041424e-01 -1.60143718e-03 -1.57165551e+01] [-9.39206736e-03 1.55149702e-04 9.99955882e-01 -2.11770796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:-15.72, Z:-2.12 [[ 9.88180448e-01 1.53052228e-01 8.62651067e-03 9.69151733e+01] [-1.53045031e-01 9.88218089e-01 -1.49231492e-03 -1.57240333e+01] [-8.75327602e-03 1.54431833e-04 9.99961677e-01 -2.11856704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.94, Y:-15.73, Z:-2.12 [[ 9.88159718e-01 1.53205972e-01 8.26451904e-03 9.69431879e+01] [-1.53199377e-01 9.88194267e-01 -1.42908563e-03 -1.57304185e+01] [-8.38589478e-03 1.46045685e-04 9.99964827e-01 -2.11860611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.97, Y:-15.74, Z:-2.12 [[ 9.87926820e-01 1.54700359e-01 8.27030027e-03 9.69699777e+01] [-1.54693809e-01 9.87961427e-01 -1.42981648e-03 -1.57379151e+01] [-8.39193077e-03 1.33189795e-04 9.99964778e-01 -2.11903324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.00, Y:-15.74, Z:-2.12 [[ 9.87649234e-01 1.56470521e-01 8.12199737e-03 9.69980069e+01] [-1.56464268e-01 9.87682622e-01 -1.40360438e-03 -1.57442091e+01] [-8.24157837e-03 1.15466418e-04 9.99966031e-01 -2.11934711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:97.03, Y:-15.75, Z:-2.11 [[ 9.87295401e-01 1.58715907e-01 7.55332018e-03 9.70252240e+01] [-1.58710566e-01 9.87324290e-01 -1.30515891e-03 -1.57494913e+01] [-7.66472596e-03 8.97856706e-05 9.99970622e-01 -2.11302320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.05, Y:-15.75, Z:-2.12 [[ 9.86326710e-01 1.64621856e-01 7.69837657e-03 9.70513481e+01] [-1.64616487e-01 9.86356752e-01 -1.33022710e-03 -1.57537319e+01] [-7.81233017e-03 4.47588110e-05 9.99969482e-01 -2.12007222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:-15.76, Z:-2.12 [[ 9.85796193e-01 1.67761301e-01 7.87473398e-03 9.70788374e+01] [-1.67755794e-01 9.85827645e-01 -1.35942774e-03 -1.57580930e+01] [-7.99118982e-03 1.90864422e-05 9.99968070e-01 -2.12065290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:-15.76, Z:-2.12 [[ 9.85814969e-01 1.67650930e-01 7.87474357e-03 9.71069340e+01] [-1.67645420e-01 9.85846421e-01 -1.35937252e-03 -1.57627743e+01] [-7.99118783e-03 1.99250789e-05 9.99968070e-01 -2.12120259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.13, Y:-15.77, Z:-2.12 [[ 9.84742348e-01 1.73810425e-01 8.51139302e-03 9.71348992e+01] [-1.73804232e-01 9.84779130e-01 -1.46765978e-03 -1.57670825e+01] [-8.63693679e-03 -3.40493841e-05 9.99962700e-01 -2.12153303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.16, Y:-15.77, Z:-2.12 [[ 9.84259066e-01 1.76527067e-01 8.50212595e-03 9.71621678e+01] [-1.76520994e-01 9.84295784e-01 -1.46545779e-03 -1.57707870e+01] [-8.62729970e-03 -5.84136082e-05 9.99962782e-01 -2.12150729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:-15.77, Z:-2.12 [[ 9.83840166e-01 1.78830472e-01 8.84251618e-03 9.71887382e+01] [-1.78824001e-01 9.83879899e-01 -1.52354907e-03 -1.57741507e+01] [-8.97243093e-03 -8.23253520e-05 9.99959744e-01 -2.12258981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:-15.78, Z:-2.12 [[ 9.83113470e-01 1.82788415e-01 8.73506017e-03 9.72167301e+01] [-1.82782264e-01 9.83152268e-01 -1.50421055e-03 -1.57761924e+01] [-8.86284648e-03 -1.17804417e-04 9.99960717e-01 -2.12251006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:-15.78, Z:-2.12 [[ 9.82834920e-01 1.84276620e-01 8.81176939e-03 9.72445383e+01] [-1.84270425e-01 9.82874412e-01 -1.51678623e-03 -1.57790630e+01] [-8.94037090e-03 -1.32998023e-04 9.99960025e-01 -2.12307694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:-15.78, Z:-2.12 [[ 9.82552125e-01 1.85751056e-01 9.37372554e-03 9.72716626e+01] [-1.85744119e-01 9.82596825e-01 -1.61283069e-03 -1.57803485e+01] [-9.51017796e-03 -1.56424173e-04 9.99954765e-01 -2.12397995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:-15.78, Z:-2.12 [[ 9.82493587e-01 1.86032708e-01 9.90870364e-03 9.72992718e+01] [-1.86024983e-01 9.82543537e-01 -1.70379931e-03 -1.57840367e+01] [-1.00526951e-02 -1.69294529e-04 9.99949456e-01 -2.12389485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:97.33, Y:-15.79, Z:-2.12 [[ 9.82491022e-01 1.86065064e-01 9.54903271e-03 9.73261721e+01] [-1.86057896e-01 9.82537412e-01 -1.64140447e-03 -1.57870196e+01] [-9.68768991e-03 -1.64007785e-04 9.99953060e-01 -2.11781649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:-15.79, Z:-2.13 [[ 9.82629475e-01 1.85349663e-01 9.20959526e-03 9.73546993e+01] [-1.85342973e-01 9.82672621e-01 -1.58216499e-03 -1.57880202e+01] [-9.34327086e-03 -1.52251807e-04 9.99956339e-01 -2.12559135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:-15.79, Z:-2.13 [[ 9.82803705e-01 1.84439665e-01 8.88189392e-03 9.73826012e+01] [-1.84433410e-01 9.82843828e-01 -1.52531792e-03 -1.57912714e+01] [-9.01084375e-03 -1.39029880e-04 9.99959392e-01 -2.12645236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.41, Y:-15.79, Z:-2.13 [[ 9.83213038e-01 1.82265800e-01 8.44389375e-03 9.74098192e+01] [-1.82260071e-01 9.83249289e-01 -1.44965836e-03 -1.57929291e+01] [-8.56667567e-03 -1.13661668e-04 9.99963299e-01 -2.12763759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.118623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:97.44, Y:-15.80, Z:-2.12 [[ 9.83462736e-01 1.80933586e-01 8.00528674e-03 9.74382275e+01] [-1.80928398e-01 9.83495312e-01 -1.37359950e-03 -1.57958862e+01] [-8.12169226e-03 -9.74997795e-05 9.99967014e-01 -2.12320938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:-15.80, Z:-2.13 [[ 9.83732350e-01 1.79443485e-01 8.40829005e-03 9.74657275e+01] [-1.79437713e-01 9.83768279e-01 -1.44203775e-03 -1.57985306e+01] [-8.53057331e-03 -9.01851553e-05 9.99963610e-01 -2.12890568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.49, Y:-15.80, Z:-2.13 [[ 9.84245552e-01 1.76601722e-01 8.51621632e-03 9.74926286e+01] [-1.76595700e-01 9.84282392e-01 -1.46002226e-03 -1.58013639e+01] [-8.64020421e-03 -6.69067686e-05 9.99962671e-01 -2.12924565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:-15.80, Z:-2.13 [[ 9.84511852e-01 1.75104859e-01 8.64296926e-03 9.75196239e+01] [-1.75098605e-01 9.84549788e-01 -1.48095101e-03 -1.58047586e+01] [-8.76875527e-03 -5.53580360e-05 9.99961552e-01 -2.12932304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.238623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.55, Y:-15.81, Z:-2.12 [[ 9.84967773e-01 1.72506181e-01 8.95006397e-03 9.75478589e+01] [-1.72499377e-01 9.85008435e-01 -1.53251698e-03 -1.58070384e+01] [-9.08025715e-03 -3.44006242e-05 9.99958773e-01 -2.12319957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:-15.81, Z:-2.13 [[ 9.85204173e-01 1.71117083e-01 9.57500100e-03 9.75744191e+01] [-1.71109234e-01 9.85250701e-01 -1.63909194e-03 -1.58103525e+01] [-9.71425308e-03 -2.35308667e-05 9.99952815e-01 -2.12922047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:-15.81, Z:-2.13 [[ 9.85546500e-01 1.69062087e-01 1.07752623e-02 9.76021954e+01] [-1.69052038e-01 9.85605403e-01 -1.84334849e-03 -1.58126967e+01] [-1.09317971e-02 -4.87439351e-06 9.99940246e-01 -2.12943889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:-15.82, Z:-2.13 [[ 9.85639323e-01 1.68486985e-01 1.12810329e-02 9.76295927e+01] [-1.68475938e-01 9.85703878e-01 -1.92936287e-03 -1.58154993e+01] [-1.14448304e-02 1.07332069e-06 9.99934506e-01 -2.12964293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:97.66, Y:-15.82, Z:-2.12 [[ 9.85649770e-01 1.68440498e-01 1.10602472e-02 9.76572722e+01] [-1.68429896e-01 9.85711823e-01 -1.88984046e-03 -1.58183753e+01] [-1.12205421e-02 -1.55474940e-07 9.99937048e-01 -2.12389164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:-15.82, Z:-2.13 [[ 9.85533004e-01 1.69117873e-01 1.11285136e-02 9.76854017e+01] [-1.69107192e-01 9.85595832e-01 -1.90069337e-03 -1.58195176e+01] [-1.12896579e-02 -8.71565043e-06 9.99936270e-01 -2.13043005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:-15.82, Z:-2.13 [[ 9.85395868e-01 1.69931276e-01 1.08786579e-02 9.77122158e+01] [-1.69921127e-01 9.85455915e-01 -1.85735528e-03 -1.58216629e+01] [-1.10360606e-02 -1.82835882e-05 9.99939101e-01 -2.13079908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.74, Y:-15.82, Z:-2.13 [[ 9.85024230e-01 1.72152800e-01 9.52254682e-03 9.77395199e+01] [-1.72145133e-01 9.85070257e-01 -1.62521388e-03 -1.58198559e+01] [-9.66016277e-03 -3.83850416e-05 9.99953339e-01 -2.13164711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.478623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.77, Y:-15.82, Z:-2.13 [[ 9.84800044e-01 1.73463362e-01 8.90701859e-03 9.77674176e+01] [-1.73456714e-01 9.84840322e-01 -1.51940607e-03 -1.58220693e+01] [-9.03555234e-03 -4.86710088e-05 9.99959177e-01 -2.13254790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:-15.82, Z:-2.13 [[ 9.84467977e-01 1.75361847e-01 8.42757473e-03 9.77959804e+01] [-1.75355970e-01 9.84504047e-01 -1.43709428e-03 -1.58225617e+01] [-8.54899293e-03 -6.30522381e-05 9.99963455e-01 -2.13365876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:-15.82, Z:-2.13 [[ 9.84447770e-01 1.75465925e-01 8.61957354e-03 9.78226311e+01] [-1.75459786e-01 9.84485503e-01 -1.46928746e-03 -1.58249265e+01] [-8.74365508e-03 -6.59517613e-05 9.99961771e-01 -2.13393361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:-15.83, Z:-2.13 [[ 9.84510433e-01 1.75115862e-01 8.58152042e-03 9.78507646e+01] [-1.75109771e-01 9.84547831e-01 -1.46194970e-03 -1.58272214e+01] [-8.70492790e-03 -6.34033405e-05 9.99962109e-01 -2.13452268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:-15.83, Z:-2.14 [[ 9.84946250e-01 1.72633694e-01 8.85961423e-03 9.78786583e+01] [-1.72627106e-01 9.84986094e-01 -1.50874977e-03 -1.58257481e+01] [-8.98705787e-03 -4.33721352e-05 9.99959615e-01 -2.13510265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.91, Y:-15.83, Z:-2.14 [[ 9.85259998e-01 1.70815032e-01 9.21739992e-03 9.79057016e+01] [-1.70807830e-01 9.85303113e-01 -1.56881248e-03 -1.58273612e+01] [-9.34990958e-03 -2.87158980e-05 9.99956288e-01 -2.13565906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:-15.83, Z:-2.14 [[ 9.85715790e-01 1.68154620e-01 9.40240375e-03 9.79340437e+01] [-1.68147014e-01 9.85760632e-01 -1.59940828e-03 -1.58291336e+01] [-9.53746735e-03 -4.42411284e-06 9.99954517e-01 -2.13556342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:-15.83, Z:-2.14 [[ 9.86635861e-01 1.62610875e-01 1.03624610e-02 9.79610514e+01] [-1.62601333e-01 9.86690276e-01 -1.76232858e-03 -1.58303923e+01] [-1.05111133e-02 5.38266018e-05 9.99944755e-01 -2.13575728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:-15.83, Z:-2.14 [[ 9.87144961e-01 1.59504804e-01 1.01510105e-02 9.79890533e+01] [-1.59495503e-01 9.87197149e-01 -1.72450000e-03 -1.58341066e+01] [-1.02961147e-02 8.32909556e-05 9.99946990e-01 -2.13628247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.02, Y:-15.84, Z:-2.14 [[ 9.88202682e-01 1.52857059e-01 9.49629886e-03 9.80157378e+01] [-1.52848617e-01 9.88248298e-01 -1.61277811e-03 -1.58382376e+01] [-9.63122571e-03 1.42255510e-04 9.99953609e-01 -2.13750304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.04, Y:-15.84, Z:-2.14 [[ 9.88709171e-01 1.49576966e-01 8.99478414e-03 9.80436181e+01] [-1.49569263e-01 9.88750072e-01 -1.52681125e-03 -1.58425033e+01] [-9.12196926e-03 1.64229051e-04 9.99958380e-01 -2.13831854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.07, Y:-15.85, Z:-2.13 [[ 9.89533066e-01 1.44077681e-01 8.11988738e-03 9.80710268e+01] [-1.44071218e-01 9.89566362e-01 -1.37841403e-03 -1.58452531e+01] [-8.23376610e-03 1.94144200e-04 9.99966083e-01 -2.13499225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:-15.85, Z:-2.14 [[ 9.89882299e-01 1.41653651e-01 8.20229288e-03 9.80986618e+01] [-1.41646987e-01 9.89916258e-01 -1.39074842e-03 -1.58498500e+01] [-8.31658766e-03 2.14847171e-04 9.99965394e-01 -2.13881186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:-15.86, Z:-2.14 [[ 9.90223531e-01 1.39254905e-01 8.08889837e-03 9.81264749e+01] [-1.39248348e-01 9.90256542e-01 -1.37097526e-03 -1.58551368e+01] [-8.20099956e-03 2.31206223e-04 9.99966345e-01 -2.13926559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:-15.86, Z:-2.14 [[ 9.90774792e-01 1.35247977e-01 8.56129637e-03 9.81536815e+01] [-1.35240489e-01 9.90811741e-01 -1.45032053e-03 -1.58616659e+01] [-8.67878588e-03 2.79107116e-04 9.99962300e-01 -2.13945982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.18, Y:-15.87, Z:-2.14 [[ 9.90988527e-01 1.33635590e-01 9.12513562e-03 9.81808017e+01] [-1.33627022e-01 9.91030490e-01 -1.54507417e-03 -1.58665495e+01] [-9.24976452e-03 3.11786078e-04 9.99957171e-01 -2.13975471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.21, Y:-15.87, Z:-2.14 [[ 9.91169842e-01 1.32180905e-01 1.05143612e-02 9.82074181e+01] [-1.32169457e-01 9.91225539e-01 -1.77940702e-03 -1.58726662e+01] [-1.06573069e-02 3.74017173e-04 9.99943139e-01 -2.13909728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.23, Y:-15.88, Z:-2.14 [[ 9.91162647e-01 1.32225563e-01 1.06304966e-02 9.82338496e+01] [-1.32213873e-01 9.91219581e-01 -1.79810775e-03 -1.58782662e+01] [-1.07749122e-02 3.76718111e-04 9.99941878e-01 -2.13934967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:98.26, Y:-15.88, Z:-2.14 [[ 9.91101405e-01 1.32698264e-01 1.04486872e-02 9.82615090e+01] [-1.32687007e-01 9.91156414e-01 -1.76639874e-03 -1.58837740e+01] [-1.05906814e-02 3.64275244e-04 9.99943851e-01 -2.13528251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.29, Y:-15.89, Z:-2.14 [[ 9.90782101e-01 1.35098609e-01 9.95960987e-03 9.82889209e+01] [-1.35088508e-01 9.90832106e-01 -1.68313393e-03 -1.58899601e+01] [-1.00956903e-02 3.22190136e-04 9.99948985e-01 -2.14073199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:-15.90, Z:-2.14 [[ 9.90563426e-01 1.36735104e-01 9.36004369e-03 9.83167739e+01] [-1.36726261e-01 9.90607606e-01 -1.58121445e-03 -1.58955353e+01] [-9.48833799e-03 2.86529418e-04 9.99954944e-01 -2.14178111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.34, Y:-15.90, Z:-2.14 [[ 9.90034192e-01 1.40593289e-01 8.11326018e-03 9.83433802e+01] [-1.40586777e-01 9.90067412e-01 -1.37031740e-03 -1.59015931e+01] [-8.22533194e-03 2.16043980e-04 9.99966148e-01 -2.14301006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.37, Y:-15.91, Z:-2.14 [[ 9.89712799e-01 1.42881172e-01 7.31748374e-03 9.83706642e+01] [-1.42875941e-01 9.89739834e-01 -1.23531341e-03 -1.59072696e+01] [-7.41890818e-03 1.77113111e-04 9.99972464e-01 -2.14401458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:-15.91, Z:-2.14 [[ 9.89372000e-01 1.45239326e-01 6.97017047e-03 9.83984640e+01] [-1.45234641e-01 9.89396541e-01 -1.17625003e-03 -1.59123042e+01] [-7.06710032e-03 1.51438633e-04 9.99975016e-01 -2.14447804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:-15.92, Z:-2.14 [[ 9.88626529e-01 1.50219299e-01 7.19360942e-03 9.84253628e+01] [-1.50214444e-01 9.88652693e-01 -1.21354083e-03 -1.59171604e+01] [-7.29427858e-03 1.19154615e-04 9.99973389e-01 -2.14470767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:-15.92, Z:-2.15 [[ 9.88236807e-01 1.52733256e-01 7.78242837e-03 9.84531614e+01] [-1.52727660e-01 9.88267444e-01 -1.31196660e-03 -1.59223460e+01] [-7.89150153e-03 1.07941614e-04 9.99968856e-01 -2.14549160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.48, Y:-15.93, Z:-2.15 [[ 9.87482574e-01 1.57514794e-01 8.20095342e-03 9.84798535e+01] [-1.57508748e-01 9.87516625e-01 -1.38199245e-03 -1.59289629e+01] [-8.31626210e-03 7.29715485e-05 9.99965417e-01 -2.14582894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:-15.93, Z:-2.15 [[ 9.87140652e-01 1.59638491e-01 8.29977757e-03 9.85074423e+01] [-1.59632380e-01 9.87175541e-01 -1.39781988e-03 -1.59343062e+01] [-8.41648327e-03 5.49315773e-05 9.99964579e-01 -2.14645648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:-15.94, Z:-2.15 [[ 9.86803322e-01 1.61697486e-01 8.55140725e-03 9.85347129e+01] [-1.61691082e-01 9.86840373e-01 -1.43955166e-03 -1.59395240e+01] [-8.67164581e-03 3.78680710e-05 9.99962400e-01 -2.14672125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.56, Y:-15.95, Z:-2.14 [[ 9.86115467e-01 1.65782120e-01 9.62151304e-03 9.85611954e+01] [-1.65774215e-01 9.86162405e-01 -1.61896426e-03 -1.59452485e+01] [-9.75676976e-03 1.48692319e-06 9.99952402e-01 -2.14466743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:-15.95, Z:-2.15 [[ 9.85820686e-01 1.67521058e-01 9.70931692e-03 9.85885295e+01] [-1.67513101e-01 9.85868498e-01 -1.63282906e-03 -1.59505377e+01] [-9.84564293e-03 -1.67611168e-05 9.99951530e-01 -2.14732353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:-15.96, Z:-2.15 [[ 9.85323722e-01 1.70442451e-01 9.30232746e-03 9.86148060e+01] [-1.70435282e-01 9.85367631e-01 -1.56389803e-03 -1.59559787e+01] [-9.43276699e-03 -4.44989781e-05 9.99955509e-01 -2.14846538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:98.64, Y:-15.96, Z:-2.15 [[ 9.85078362e-01 1.71850276e-01 9.38632383e-03 9.86425724e+01] [-1.71843048e-01 9.85123078e-01 -1.57717897e-03 -1.59609459e+01] [-9.51772287e-03 -5.93296230e-05 9.99954704e-01 -2.14904093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.67, Y:-15.97, Z:-2.15 [[ 9.84688825e-01 1.74102528e-01 8.73081188e-03 9.86695846e+01] [-1.74096367e-01 9.84727528e-01 -1.46660063e-03 -1.59651442e+01] [-8.85280967e-03 -7.58573838e-05 9.99960810e-01 -2.14976427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:-15.97, Z:-2.15 [[ 9.84481911e-01 1.75294136e-01 8.20567084e-03 9.86963349e+01] [-1.75288741e-01 9.84516104e-01 -1.37771697e-03 -1.59695164e+01] [-8.32012079e-03 -8.20242721e-05 9.99965384e-01 -2.15034115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:-15.97, Z:-2.15 [[ 9.84300823e-01 1.76316018e-01 8.03440016e-03 9.87242975e+01] [-1.76310886e-01 9.84333609e-01 -1.34821326e-03 -1.59739693e+01] [-8.14624170e-03 -8.95047925e-05 9.99966815e-01 -2.15120511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:-15.98, Z:-2.15 [[ 9.83989592e-01 1.78031551e-01 8.32166387e-03 9.87514273e+01] [-1.78026111e-01 9.84024774e-01 -1.39588037e-03 -1.59776928e+01] [-8.43723415e-03 -1.07941697e-04 9.99964400e-01 -2.15153094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.78, Y:-15.98, Z:-2.15 [[ 9.83907620e-01 1.78461843e-01 8.78446382e-03 9.87786386e+01] [-1.78455808e-01 9.83946826e-01 -1.47249045e-03 -1.59809094e+01] [-8.90622865e-03 -1.18844013e-04 9.99960332e-01 -2.15205471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:-15.98, Z:-2.15 [[ 9.83888123e-01 1.78567697e-01 8.81691748e-03 9.88065688e+01] [-1.78561617e-01 9.83927621e-01 -1.47848394e-03 -1.59839013e+01] [-8.93921812e-03 -1.19700248e-04 9.99960037e-01 -2.15271291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:-15.99, Z:-2.15 [[ 9.84035239e-01 1.77779743e-01 8.30726890e-03 9.88337231e+01] [-1.77774338e-01 9.84070298e-01 -1.39055941e-03 -1.59881805e+01] [-8.42214987e-03 -1.08459768e-04 9.99964527e-01 -2.15348020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:-15.99, Z:-2.15 [[ 9.84056375e-01 1.77662711e-01 8.30728245e-03 9.88618354e+01] [-1.77657303e-01 9.84091433e-01 -1.39047881e-03 -1.59927216e+01] [-8.42216173e-03 -1.07539851e-04 9.99964527e-01 -2.15402983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.89, Y:-16.00, Z:-2.15 [[ 9.84200176e-01 1.76875572e-01 8.06508399e-03 9.88893524e+01] [-1.76870460e-01 9.84233215e-01 -1.34848664e-03 -1.59967580e+01] [-8.17643790e-03 -9.92943244e-05 9.99966567e-01 -2.15469423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.92, Y:-16.00, Z:-2.15 [[ 9.84632966e-01 1.74429330e-01 8.50483276e-03 9.89164063e+01] [-1.74423558e-01 9.84669692e-01 -1.42143584e-03 -1.59991384e+01] [-8.62239115e-03 -8.38506036e-05 9.99962823e-01 -2.15438384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.94, Y:-16.00, Z:-2.15 [[ 9.84902493e-01 1.72869478e-01 9.12265262e-03 9.89442665e+01] [-1.72862780e-01 9.84944738e-01 -1.52360667e-03 -1.60028308e+01] [-9.24869378e-03 -7.63630840e-05 9.99957227e-01 -2.15473636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.97, Y:-16.01, Z:-2.15 [[ 9.85501362e-01 1.69333923e-01 1.06343049e-02 9.89723677e+01] [-1.69324625e-01 9.85558735e-01 -1.77520826e-03 -1.60066598e+01] [-1.07813351e-02 -5.11795397e-05 9.99941878e-01 -2.15475567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:-16.01, Z:-2.15 [[ 9.85811519e-01 1.67509257e-01 1.07841676e-02 9.89991425e+01] [-1.67499594e-01 9.85870503e-01 -1.79952685e-03 -1.60109528e+01] [-1.09332301e-02 -3.23493869e-05 9.99940230e-01 -2.15484506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:99.03, Y:-16.01, Z:-2.15 [[ 9.86131114e-01 1.65624734e-01 1.06711084e-02 9.90264836e+01] [-1.65615172e-01 9.86188850e-01 -1.77970829e-03 -1.60149955e+01] [-1.08184918e-02 -1.22717255e-05 9.99941478e-01 -2.15143296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.05, Y:-16.02, Z:-2.16 [[ 9.86747593e-01 1.61909129e-01 1.07061555e-02 9.90543346e+01] [-1.61899294e-01 9.86805671e-01 -1.78476832e-03 -1.60202402e+01] [-1.08538652e-02 2.77968295e-05 9.99941095e-01 -2.15561517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.08, Y:-16.03, Z:-2.16 [[ 9.87322874e-01 1.58393367e-01 1.02510322e-02 9.90803499e+01] [-1.58384167e-01 9.87376087e-01 -1.70831756e-03 -1.60255747e+01] [-1.03922103e-02 6.30597991e-05 9.99945998e-01 -2.15686267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.11, Y:-16.03, Z:-2.16 [[ 9.87596369e-01 1.56691202e-01 1.00638024e-02 9.91071534e+01] [-1.56682251e-01 9.87647640e-01 -1.67663708e-03 -1.60300698e+01] [-1.02022050e-02 7.90214742e-05 9.99947953e-01 -2.15721401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.978623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:99.13, Y:-16.04, Z:-2.15 [[ 9.87804562e-01 1.55421251e-01 9.29418974e-03 9.91347108e+01] [-1.55413574e-01 9.87848282e-01 -1.54700056e-03 -1.60352503e+01] [-9.42168613e-03 8.36909654e-05 9.99955611e-01 -2.15320747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.16, Y:-16.04, Z:-2.16 [[ 9.88262730e-01 1.52513896e-01 8.73428897e-03 9.91619911e+01] [-1.52507007e-01 9.88301321e-01 -1.45326215e-03 -1.60407452e+01] [-8.85375200e-03 1.04164552e-04 9.99960799e-01 -2.15533606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.038623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.19, Y:-16.05, Z:-2.16 [[ 9.88425515e-01 1.51434694e-01 9.08491230e-03 9.91886008e+01] [-1.51427201e-01 9.88467258e-01 -1.51101499e-03 -1.60459979e+01] [-9.20895844e-03 1.17822931e-04 9.99957590e-01 -2.15875527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.22, Y:-16.05, Z:-2.16 [[ 9.88554775e-01 1.50622297e-01 8.50771444e-03 9.92157452e+01] [-1.50615702e-01 9.88591377e-01 -1.41428473e-03 -1.60524999e+01] [-8.62367595e-03 1.16702533e-04 9.99962809e-01 -2.15905424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.24, Y:-16.06, Z:-2.16 [[ 9.88515985e-01 1.50897000e-01 8.13890387e-03 9.92432765e+01] [-1.50890978e-01 9.88549485e-01 -1.35246110e-03 -1.60576829e+01] [-8.24979155e-03 1.08842254e-04 9.99965964e-01 -2.15960159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:-16.06, Z:-2.16 [[ 9.88432513e-01 1.51449699e-01 8.00970065e-03 9.92695843e+01] [-1.51443888e-01 9.88464961e-01 -1.33057538e-03 -1.60625741e+01] [-8.11882368e-03 1.02163754e-04 9.99967037e-01 -2.16073477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.30, Y:-16.07, Z:-2.16 [[ 9.88263862e-01 1.52552060e-01 7.89993008e-03 9.92971467e+01] [-1.52546449e-01 9.88295432e-01 -1.31158902e-03 -1.60677830e+01] [-8.00755041e-03 9.10897501e-05 9.99967935e-01 -2.16068640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:-16.07, Z:-2.16 [[ 9.87802740e-01 1.55509720e-01 7.90400236e-03 9.93231478e+01] [-1.55504202e-01 9.87834360e-01 -1.31171816e-03 -1.60732047e+01] [-8.01183003e-03 6.66132186e-05 9.99967903e-01 -2.16075602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:-16.08, Z:-2.16 [[ 9.87567200e-01 1.56997219e-01 7.93084360e-03 9.93506082e+01] [-1.56991716e-01 9.87599043e-01 -1.31562306e-03 -1.60776099e+01] [-8.03904272e-03 5.41894310e-05 9.99967685e-01 -2.16142165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:-16.08, Z:-2.16 [[ 9.87148857e-01 1.59591191e-01 8.23326069e-03 9.93782206e+01] [-1.59585355e-01 9.87183190e-01 -1.36517163e-03 -1.60835201e+01] [-8.34560592e-03 3.37197850e-05 9.99965174e-01 -2.16248048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.41, Y:-16.09, Z:-2.16 [[ 9.86980150e-01 1.60625834e-01 8.33819852e-03 9.94055953e+01] [-1.60619891e-01 9.87015370e-01 -1.38198029e-03 -1.60887995e+01] [-8.45191184e-03 2.47065813e-05 9.99964282e-01 -2.16247565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.43, Y:-16.09, Z:-2.16 [[ 9.86849930e-01 1.61410122e-01 8.60162020e-03 9.94331201e+01] [-1.61403832e-01 9.86887416e-01 -1.42507253e-03 -1.60936806e+01] [-8.71885186e-03 1.79982685e-05 9.99961990e-01 -2.16295339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.46, Y:-16.10, Z:-2.16 [[ 9.86638679e-01 1.62640211e-01 9.60620425e-03 9.94592155e+01] [-1.62632431e-01 9.86685442e-01 -1.59073755e-03 -1.60984608e+01] [-9.73701978e-03 7.20284355e-06 9.99952594e-01 -2.16276065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:99.49, Y:-16.10, Z:-2.16 [[ 9.86550721e-01 1.63168819e-01 9.67532976e-03 9.94855283e+01] [-1.63160961e-01 9.86598164e-01 -1.60132460e-03 -1.61034177e+01] [-9.80694882e-03 1.15183874e-06 9.99951911e-01 -2.16309238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.51, Y:-16.11, Z:-2.16 [[ 9.86366861e-01 1.64293294e-01 9.38766490e-03 9.95129160e+01] [-1.64285956e-01 9.86411533e-01 -1.55287078e-03 -1.61103792e+01] [-9.51522719e-03 -1.05612218e-05 9.99954729e-01 -2.16384714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.54, Y:-16.12, Z:-2.16 [[ 9.86277470e-01 1.64835178e-01 9.27987230e-03 9.95397237e+01] [-1.64828036e-01 9.86321126e-01 -1.53448526e-03 -1.61154854e+01] [-9.40587125e-03 -1.61548937e-05 9.99955764e-01 -2.16434407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:-16.12, Z:-2.16 [[ 9.86059167e-01 1.66159041e-01 8.85955696e-03 9.95671477e+01] [-1.66152592e-01 9.86098967e-01 -1.46415459e-03 -1.61209036e+01] [-8.97968249e-03 -2.82953009e-05 9.99959681e-01 -2.16482405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:-16.13, Z:-2.17 [[ 9.85937700e-01 1.66893260e-01 8.57268851e-03 9.95943688e+01] [-1.66887255e-01 9.85974969e-01 -1.41617626e-03 -1.61252700e+01] [-8.68880656e-03 -3.44108875e-05 9.99962251e-01 -2.16567892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:-16.13, Z:-2.17 [[ 9.85715789e-01 1.68227896e-01 7.98482532e-03 9.96206282e+01] [-1.68222733e-01 9.85748129e-01 -1.31869719e-03 -1.61304881e+01] [-8.09286827e-03 -4.33684961e-05 9.99967251e-01 -2.16645394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:-16.14, Z:-2.17 [[ 9.85597977e-01 1.68909700e-01 8.13268646e-03 9.96484755e+01] [-1.68904375e-01 9.85631529e-01 -1.34220912e-03 -1.61359596e+01] [-8.24254433e-03 -5.07677329e-05 9.99966028e-01 -2.16690749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:-16.14, Z:-2.17 [[ 9.85460870e-01 1.69693574e-01 8.42411110e-03 9.96749808e+01] [-1.69687893e-01 9.85496873e-01 -1.38977374e-03 -1.61412522e+01] [-8.53777082e-03 -5.99020250e-05 9.99963551e-01 -2.16778698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:-16.15, Z:-2.17 [[ 9.85116073e-01 1.71659394e-01 8.90930664e-03 9.97021352e+01] [-1.71653129e-01 9.85156356e-01 -1.46887339e-03 -1.61462152e+01] [-9.02920598e-03 -8.22995766e-05 9.99959233e-01 -2.16774341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:-16.15, Z:-2.17 [[ 9.84945166e-01 1.72628842e-01 9.07207245e-03 9.97293771e+01] [-1.72622394e-01 9.84986941e-01 -1.49503393e-03 -1.61508021e+01] [-9.19395887e-03 -9.35164225e-05 9.99957730e-01 -2.16834057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:-16.16, Z:-2.17 [[ 9.84810333e-01 1.73398709e-01 9.02746258e-03 9.97573336e+01] [-1.73392362e-01 9.84851703e-01 -1.48702388e-03 -1.61553602e+01] [-9.14855992e-03 -1.00856573e-04 9.99958146e-01 -2.16887000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.698623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:99.79, Y:-16.16, Z:-2.17 [[ 9.84477978e-01 1.75290546e-01 8.73698425e-03 9.97853878e+01] [-1.75284680e-01 9.84516740e-01 -1.43859022e-03 -1.61599219e+01] [-8.85387852e-03 -1.15199096e-04 9.99960797e-01 -2.16696283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.81, Y:-16.16, Z:-2.17 [[ 9.84405334e-01 1.75706219e-01 8.57103484e-03 9.98126261e+01] [-1.75700595e-01 9.84442640e-01 -1.41065893e-03 -1.61642595e+01] [-8.68555371e-03 -1.17275745e-04 9.99962273e-01 -2.16802127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.758623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:99.84, Y:-16.17, Z:-2.17 [[ 9.84403784e-01 1.75741141e-01 8.01506582e-03 9.98391424e+01] [-1.75736228e-01 9.84436407e-01 -1.31877716e-03 -1.61681280e+01] [-8.12208600e-03 -1.10328201e-04 9.99967009e-01 -2.16658584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:-16.17, Z:-2.17 [[ 9.84493094e-01 1.75227050e-01 8.29632229e-03 9.98672609e+01] [-1.75221775e-01 9.84528044e-01 -1.36412875e-03 -1.61713822e+01] [-8.40699421e-03 -1.10720980e-04 9.99964654e-01 -2.17184827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:-16.17, Z:-2.17 [[ 9.84554268e-01 1.74867540e-01 8.61604213e-03 9.98947109e+01] [-1.74861843e-01 9.84591962e-01 -1.41605126e-03 -1.61744441e+01] [-8.73090723e-03 -1.12437689e-04 9.99961879e-01 -2.17188162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:-16.18, Z:-2.17 [[ 9.84631593e-01 1.74412114e-01 9.00229541e-03 9.99215918e+01] [-1.74405881e-01 9.84672738e-01 -1.47891313e-03 -1.61766887e+01] [-9.12225523e-03 -1.13868667e-04 9.99958385e-01 -2.17245016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:-16.18, Z:-2.17 [[ 9.84684179e-01 1.74113297e-01 9.03481720e-03 9.99484185e+01] [-1.74107014e-01 9.84725620e-01 -1.48344545e-03 -1.61810697e+01] [-9.15510355e-03 -1.12299775e-04 9.99958085e-01 -2.17275097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:-16.18, Z:-2.17 [[ 9.84790596e-01 1.73473365e-01 9.71973085e-03 9.99761932e+01] [-1.73466072e-01 9.84838554e-01 -1.59487416e-03 -1.61833089e+01] [-9.84903387e-03 -1.15426459e-04 9.99951490e-01 -2.17221169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:-16.19, Z:-2.17 [[ 9.84863966e-01 1.73054981e-01 9.74377717e-03 1.00003490e+02] [-1.73047632e-01 9.84912159e-01 -1.59865454e-03 -1.61859751e+01] [-9.87341974e-03 -1.11680315e-04 9.99951250e-01 -2.17260578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:-16.19, Z:-2.17 [[ 9.85002078e-01 1.72265088e-01 9.77984184e-03 1.00030379e+02] [-1.72257665e-01 9.85050622e-01 -1.60273286e-03 -1.61886024e+01] [-9.90973420e-03 -1.05957522e-04 9.99950892e-01 -2.17343251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:-16.19, Z:-2.17 [[ 9.85348396e-01 1.70268402e-01 9.85953450e-03 1.00058471e+02] [-1.70260767e-01 9.85397719e-01 -1.61482486e-03 -1.61917529e+01] [-9.99051645e-03 -8.75268143e-05 9.99950090e-01 -2.17378121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:-16.19, Z:-2.17 [[ 9.85893406e-01 1.67111232e-01 9.38235389e-03 1.00085957e+02] [-1.67104179e-01 9.85938047e-01 -1.53615952e-03 -1.61938736e+01] [-9.50712918e-03 -5.33410124e-05 9.99954805e-01 -2.17410364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.11, Y:-16.20, Z:-2.17 [[ 9.86187724e-01 1.65373557e-01 9.23899407e-03 1.00114050e+02] [-1.65366651e-01 9.86231000e-01 -1.51179500e-03 -1.61967322e+01] [-9.36179327e-03 -3.69078375e-05 9.99956177e-01 -2.17454410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:-16.20, Z:-2.18 [[ 9.86486060e-01 1.63580653e-01 9.30716208e-03 1.00140493e+02] [-1.63573570e-01 9.86529964e-01 -1.52237434e-03 -1.61997996e+01] [-9.43082525e-03 -2.06046621e-05 9.99955529e-01 -2.17522478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.17, Y:-16.20, Z:-2.18 [[ 9.86747560e-01 1.61982280e-01 9.53906174e-03 1.00168180e+02] [-1.61974774e-01 9.86793667e-01 -1.55933198e-03 -1.62036237e+01] [-9.66566986e-03 -6.42034579e-06 9.99953286e-01 -2.17575974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:-16.21, Z:-2.18 [[ 9.87200152e-01 1.59234923e-01 8.94976752e-03 1.00194736e+02] [-1.59228207e-01 9.87240720e-01 -1.46254487e-03 -1.62062276e+01] [-9.06846315e-03 1.87690872e-05 9.99958880e-01 -2.17573863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:-16.21, Z:-2.18 [[ 9.87519874e-01 1.57170040e-01 1.01032761e-02 1.00221537e+02] [-1.57161384e-01 9.87571555e-01 -1.64997643e-03 -1.62089755e+01] [-1.02370349e-02 4.15396665e-05 9.99947599e-01 -2.17606020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:-16.21, Z:-2.18 [[ 9.87658893e-01 1.56277598e-01 1.03549238e-02 1.00249665e+02] [-1.56268468e-01 9.87713172e-01 -1.69005230e-03 -1.62134224e+01] [-1.04918119e-02 5.10471118e-05 9.99944958e-01 -2.17668076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:-16.22, Z:-2.18 [[ 9.87810375e-01 1.55297614e-01 1.06448993e-02 1.00277513e+02] [-1.55287917e-01 9.87867728e-01 -1.73659516e-03 -1.62174970e+01] [-1.07854415e-02 6.24024880e-05 9.99941833e-01 -2.17735968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:100.30, Y:-16.22, Z:-2.17 [[ 9.88009983e-01 1.54081043e-01 9.76245324e-03 1.00304377e+02] [-1.54072832e-01 9.88058211e-01 -1.59214282e-03 -1.62195595e+01] [-9.89119111e-03 6.89241808e-05 9.99951079e-01 -2.17310819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:-16.22, Z:-2.18 [[ 9.88247093e-01 1.52569108e-01 9.50529152e-03 1.00332220e+02] [-1.52561262e-01 9.88292801e-01 -1.54933394e-03 -1.62228249e+01] [-9.63039168e-03 8.09854868e-05 9.99953623e-01 -2.17853915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.36, Y:-16.23, Z:-2.18 [[ 9.88461417e-01 1.51190567e-01 9.24339075e-03 1.00359050e+02] [-1.51183093e-01 9.88504630e-01 -1.50611220e-03 -1.62271781e+01] [-9.36484452e-03 9.12894007e-05 9.99956145e-01 -2.17951864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:-16.23, Z:-2.18 [[ 9.88937507e-01 1.48078809e-01 8.67606278e-03 1.00386971e+02] [-1.48072111e-01 9.88975558e-01 -1.41290385e-03 -1.62324536e+01] [-8.78963515e-03 1.12590676e-04 9.99961364e-01 -2.18034157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:-16.24, Z:-2.18 [[ 9.89214123e-01 1.46223241e-01 8.61289901e-03 1.00413444e+02] [-1.46216574e-01 9.89251610e-01 -1.40211774e-03 -1.62368583e+01] [-8.72534641e-03 1.27646078e-04 9.99961925e-01 -2.18110812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41862385300001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:100.44, Y:-16.24, Z:-2.18 [[ 9.89797503e-01 1.42225454e-01 8.53368915e-03 1.00439369e+02] [-1.42218765e-01 9.89834276e-01 -1.38871743e-03 -1.62436087e+01] [-8.64444899e-03 1.60898310e-04 9.99962623e-01 -2.17634520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:100.47, Y:-16.25, Z:-2.18 [[ 9.90115749e-01 1.39984676e-01 8.66569917e-03 1.00466467e+02] [-1.39977704e-01 9.90153653e-01 -1.40887525e-03 -1.62498146e+01] [-8.77759464e-03 1.81944900e-04 9.99961460e-01 -2.17682814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.478623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:100.49, Y:-16.26, Z:-2.18 [[ 9.90406437e-01 1.37907156e-01 8.75822113e-03 1.00494029e+02] [-1.37899958e-01 9.90445140e-01 -1.42331262e-03 -1.62556886e+01] [-8.87082255e-03 2.01899655e-04 9.99960633e-01 -2.17811826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.52, Y:-16.26, Z:-2.18 [[ 9.90870012e-01 1.34506959e-01 9.19226020e-03 1.00520228e+02] [-1.34498888e-01 9.90912619e-01 -1.49339882e-03 -1.62633971e+01] [-9.30959917e-03 2.43415329e-04 9.99956635e-01 -2.18274313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:-16.27, Z:-2.18 [[ 9.91169568e-01 1.32285699e-01 9.13134204e-03 1.00546527e+02] [-1.32277652e-01 9.91211595e-01 -1.48227809e-03 -1.62731658e+01] [-9.24717630e-03 2.61316451e-04 9.99957210e-01 -2.18285591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:-16.28, Z:-2.18 [[ 9.91228413e-01 1.31854531e-01 8.97859896e-03 1.00573310e+02] [-1.31846739e-01 9.91269043e-01 -1.45696910e-03 -1.62797783e+01] [-9.09231517e-03 2.60390179e-04 9.99958630e-01 -2.18299021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:-16.28, Z:-2.18 [[ 9.91235933e-01 1.31797981e-01 8.97868473e-03 1.00601449e+02] [-1.31790191e-01 9.91276563e-01 -1.45644021e-03 -1.62842137e+01] [-9.09231562e-03 2.60373302e-04 9.99958630e-01 -2.18354000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:-16.29, Z:-2.18 [[ 9.91191295e-01 1.32140236e-01 8.87553184e-03 1.00628652e+02] [-1.32132642e-01 9.91230999e-01 -1.43919798e-03 -1.62911650e+01] [-8.98787826e-03 2.53773041e-04 9.99959576e-01 -2.18424611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:-16.30, Z:-2.18 [[ 9.90910798e-01 1.34227893e-01 8.86919815e-03 1.00656716e+02] [-1.34220399e-01 9.90950462e-01 -1.43754732e-03 -1.62997940e+01] [-8.98189495e-03 2.34053840e-04 9.99959635e-01 -2.18406370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:-16.31, Z:-2.18 [[ 9.90672719e-01 1.35946767e-01 9.27578848e-03 1.00685107e+02] [-1.35938649e-01 9.90716117e-01 -1.50298502e-03 -1.63061973e+01] [-9.39399910e-03 2.28028101e-04 9.99955849e-01 -2.18435109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.71, Y:-16.31, Z:-2.18 [[ 9.90013492e-01 1.40614881e-01 1.00369786e-02 1.00711740e+02] [-1.40605621e-01 9.90064349e-01 -1.62585702e-03 -1.63142948e+01] [-1.01658744e-02 1.98364782e-04 9.99948306e-01 -2.18443808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:-16.32, Z:-2.18 [[ 9.89667021e-01 1.42993634e-01 1.05833803e-02 1.00740103e+02] [-1.42983483e-01 9.89723591e-01 -1.71353591e-03 -1.63205536e+01] [-1.07196459e-02 1.82581401e-04 9.99942526e-01 -2.18448038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.77, Y:-16.33, Z:-2.18 [[ 9.89247696e-01 1.45864810e-01 1.06044448e-02 1.00768679e+02] [-1.45854789e-01 9.89304521e-01 -1.71643236e-03 -1.63273181e+01] [-1.07413922e-02 1.51267711e-04 9.99942298e-01 -2.18488398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:-16.34, Z:-2.19 [[ 9.88439430e-01 1.51318462e-01 9.49827820e-03 1.00795311e+02] [-1.51310676e-01 9.88485061e-01 -1.53712975e-03 -1.63352406e+01] [-9.62150222e-03 8.21687514e-05 9.99953709e-01 -2.18551954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.82, Y:-16.34, Z:-2.19 [[ 9.88049840e-01 1.53855298e-01 9.27694653e-03 1.00821581e+02] [-1.53847986e-01 9.88093388e-01 -1.50096493e-03 -1.63407595e+01] [-9.39742094e-03 5.57886179e-05 9.99955842e-01 -2.18622454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.85, Y:-16.35, Z:-2.19 [[ 9.87422343e-01 1.57850870e-01 8.95654974e-03 1.00849152e+02] [-1.57844222e-01 9.87462963e-01 -1.44879940e-03 -1.63468343e+01] [-9.07295539e-03 1.68372697e-05 9.99958840e-01 -2.18721309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:-16.35, Z:-2.19 [[ 9.87161591e-01 1.59476502e-01 8.90164280e-03 1.00876472e+02] [-1.59470015e-01 9.87201725e-01 -1.43840139e-03 -1.63517504e+01] [-9.01710835e-03 3.89485860e-07 9.99959345e-01 -2.18816233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:-16.36, Z:-2.19 [[ 9.86873117e-01 1.61233463e-01 9.23156409e-03 1.00902848e+02] [-1.61226566e-01 9.86916293e-01 -1.49133308e-03 -1.63565913e+01] [-9.35123381e-03 -1.66168559e-05 9.99956276e-01 -2.18848722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:-16.36, Z:-2.19 [[ 9.86343586e-01 1.64392074e-01 1.00785558e-02 1.00930638e+02] [-1.64384035e-01 9.86395075e-01 -1.62653959e-03 -1.63628248e+01] [-1.02088280e-02 -5.24267779e-05 9.99947887e-01 -2.18865907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:-16.37, Z:-2.19 [[ 9.85700497e-01 1.68117012e-01 1.14542989e-02 1.00957850e+02] [-1.68106892e-01 9.85767041e-01 -1.84757604e-03 -1.63674918e+01] [-1.16018793e-02 -1.04389963e-04 9.99932690e-01 -2.18884601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:-16.37, Z:-2.19 [[ 9.85370249e-01 1.70033510e-01 1.15792266e-02 1.00984425e+02] [-1.70023310e-01 9.85438272e-01 -1.86693854e-03 -1.63714351e+01] [-1.17280552e-02 -1.29112744e-04 9.99931216e-01 -2.18898629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:-16.38, Z:-2.19 [[ 9.85120603e-01 1.71468790e-01 1.16555434e-02 1.01011680e+02] [-1.71458569e-01 9.85189541e-01 -1.87811220e-03 -1.63751966e+01] [-1.18049571e-02 -1.48275766e-04 9.99930308e-01 -2.18931879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.04, Y:-16.38, Z:-2.19 [[ 9.84657488e-01 1.74102923e-01 1.17389492e-02 1.01039110e+02] [-1.74092752e-01 9.84727444e-01 -1.89069806e-03 -1.63785046e+01] [-1.18888415e-02 -1.81975957e-04 9.99929309e-01 -2.19039493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:-16.38, Z:-2.19 [[ 9.84505491e-01 1.74981675e-01 1.14171496e-02 1.01066443e+02] [-1.74972121e-01 9.84571672e-01 -1.83809208e-03 -1.63821206e+01] [-1.15626345e-02 -1.88071135e-04 9.99933133e-01 -2.19076391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:-16.38, Z:-2.19 [[ 9.84397256e-01 1.75575566e-01 1.16302814e-02 1.01093994e+02] [-1.75565704e-01 9.84465937e-01 -1.87154590e-03 -1.63848404e+01] [-1.17782137e-02 -1.99533908e-04 9.99930615e-01 -2.19149815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:-16.39, Z:-2.19 [[ 9.84415207e-01 1.75502304e-01 1.12090119e-02 1.01120904e+02] [-1.75493147e-01 9.84479001e-01 -1.80306791e-03 -1.63891084e+01] [-1.13514794e-02 -1.92137303e-04 9.99935551e-01 -2.19183146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:-16.39, Z:-2.19 [[ 9.84514925e-01 1.74961378e-01 1.09031140e-02 1.01148013e+02] [-1.74952691e-01 9.84575281e-01 -1.75293769e-03 -1.63932367e+01] [-1.10416329e-02 -1.81735809e-04 9.99939023e-01 -2.19290172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:-16.40, Z:-2.19 [[ 9.84676129e-01 1.74067439e-01 1.06511756e-02 1.01176079e+02] [-1.74059107e-01 9.84733719e-01 -1.71146894e-03 -1.63966538e+01] [-1.07864828e-02 -1.68691504e-04 9.99941810e-01 -2.19314125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:-16.40, Z:-2.19 [[ 9.84771328e-01 1.73509258e-01 1.09530624e-02 1.01202804e+02] [-1.73500421e-01 9.84832224e-01 -1.75924239e-03 -1.63994132e+01] [-1.10921736e-02 -1.67909466e-04 9.99938466e-01 -2.19369436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.23, Y:-16.40, Z:-2.19 [[ 9.84833776e-01 1.73126301e-01 1.13893272e-02 1.01231176e+02] [-1.73116733e-01 9.84899616e-01 -1.82821153e-03 -1.64016623e+01] [-1.15338555e-02 -1.71198648e-04 9.99933468e-01 -2.19429600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:-16.40, Z:-2.19 [[ 9.84858245e-01 1.72985354e-01 1.14150649e-02 1.01258595e+02] [-1.72975742e-01 9.84924382e-01 -1.83154785e-03 -1.64046293e+01] [-1.15598066e-02 -1.70714312e-04 9.99933169e-01 -2.19475342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.29, Y:-16.41, Z:-2.20 [[ 9.84857990e-01 1.73005635e-01 1.11260958e-02 1.01285343e+02] [-1.72996513e-01 9.84920820e-01 -1.78449524e-03 -1.64072312e+01] [-1.12670511e-02 -1.67301379e-04 9.99936511e-01 -2.19581993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:-16.41, Z:-2.20 [[ 9.84983230e-01 1.72364224e-01 9.93028896e-03 1.01312244e+02] [-1.72356931e-01 9.85033275e-01 -1.59200222e-03 -1.64081111e+01] [-1.00560693e-02 -1.43458639e-04 9.99949426e-01 -2.19683609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:-16.41, Z:-2.20 [[ 9.85130044e-01 1.71528325e-01 9.84027260e-03 1.01339758e+02] [-1.71521131e-01 9.85179179e-01 -1.57671538e-03 -1.64110263e+01] [-9.96488303e-03 -1.34544996e-04 9.99950340e-01 -2.19746813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:-16.41, Z:-2.20 [[ 9.85444820e-01 1.69711891e-01 9.81735526e-03 1.01367381e+02] [-1.69704646e-01 9.85493714e-01 -1.57242096e-03 -1.64114065e+01] [-9.94180044e-03 -1.16516711e-04 9.99950572e-01 -2.19801320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:-16.41, Z:-2.20 [[ 9.85687610e-01 1.68287267e-01 9.96655228e-03 1.01395467e+02] [-1.68279738e-01 9.85737990e-01 -1.59526362e-03 -1.64134088e+01] [-1.00928718e-02 -1.04737218e-04 9.99949060e-01 -2.19852279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:-16.41, Z:-2.20 [[ 9.86222358e-01 1.65063210e-01 1.09360411e-02 1.01423120e+02] [-1.65053957e-01 9.86282987e-01 -1.74961118e-03 -1.64149696e+01] [-1.10748277e-02 -7.95311851e-05 9.99938669e-01 -2.19859302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:-16.42, Z:-2.20 [[ 9.86514941e-01 1.63267654e-01 1.14867251e-02 1.01451314e+02] [-1.63257334e-01 9.86581811e-01 -1.83678791e-03 -1.64182612e+01] [-1.16324821e-02 -6.32734011e-05 9.99932338e-01 -2.19919619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:-16.42, Z:-2.20 [[ 9.86808845e-01 1.61493809e-01 1.13160206e-02 1.01477751e+02] [-1.61483685e-01 9.86873724e-01 -1.80874668e-03 -1.64211901e+01] [-1.14595848e-02 -4.24654852e-05 9.99934336e-01 -2.19998298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.51, Y:-16.42, Z:-2.20 [[ 9.87261746e-01 1.58681028e-01 1.16007322e-02 1.01505856e+02] [-1.58670208e-01 9.87329900e-01 -1.85308054e-03 -1.64225727e+01] [-1.17477985e-02 -1.12150536e-05 9.99930992e-01 -2.20007941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:-16.42, Z:-2.20 [[ 9.87456380e-01 1.57450004e-01 1.18065433e-02 1.01532435e+02] [-1.57438718e-01 9.87526960e-01 -1.88515388e-03 -1.64249035e+01] [-1.19560973e-02 2.70017698e-06 9.99928523e-01 -2.20054610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:-16.43, Z:-2.20 [[ 9.87781267e-01 1.55447843e-01 1.11416167e-02 1.01560526e+02] [-1.55437676e-01 9.87844101e-01 -1.77804450e-03 -1.64256269e+01] [-1.12825735e-02 2.44920473e-05 9.99936349e-01 -2.20159043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:-16.43, Z:-2.20 [[ 9.87956448e-01 1.54331243e-01 1.11321374e-02 1.01588175e+02] [-1.54321031e-01 9.88019163e-01 -1.77574926e-03 -1.64282735e+01] [-1.12728187e-02 3.64400052e-05 9.99936459e-01 -2.20243537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:-16.43, Z:-2.20 [[ 9.88243050e-01 1.52461013e-01 1.14591926e-02 1.01614960e+02] [-1.52450074e-01 9.88309484e-01 -1.82731718e-03 -1.64302961e+01] [-1.16038233e-02 5.88787555e-05 9.99932672e-01 -2.20321153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:-16.43, Z:-2.20 [[ 9.88410643e-01 1.51351173e-01 1.17141882e-02 1.01642539e+02] [-1.51339684e-01 9.88480054e-01 -1.86623401e-03 -1.64333167e+01] [-1.18616981e-02 7.17840122e-05 9.99929645e-01 -2.20353239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:-16.43, Z:-2.20 [[ 9.88711775e-01 1.49293996e-01 1.26621019e-02 1.01670287e+02] [-1.49280413e-01 9.88792846e-01 -2.01650082e-03 -1.64349565e+01] [-1.28212473e-02 1.03534302e-04 9.99917799e-01 -2.20395791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:-16.44, Z:-2.20 [[ 9.88883608e-01 1.48172159e-01 1.24185578e-02 1.01697754e+02] [-1.48159017e-01 9.88961576e-01 -1.97681517e-03 -1.64385409e+01] [-1.25743854e-02 1.14918815e-04 9.99920933e-01 -2.20459142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:-16.44, Z:-2.21 [[ 9.89038594e-01 1.47142515e-01 1.23182779e-02 1.01725912e+02] [-1.47129515e-01 9.89115294e-01 -1.95995326e-03 -1.64422789e+01] [-1.24725895e-02 1.26087166e-04 9.99922206e-01 -2.20528843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:-16.44, Z:-2.21 [[ 9.89240750e-01 1.45757072e-01 1.25544742e-02 1.01752577e+02] [-1.45743468e-01 9.89320401e-01 -1.99665208e-03 -1.64447769e+01] [-1.27114236e-02 1.45436994e-04 9.99919196e-01 -2.20553219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:-16.45, Z:-2.21 [[ 9.89233242e-01 1.45773517e-01 1.29489373e-02 1.01780302e+02] [-1.45759062e-01 9.89317977e-01 -2.05814279e-03 -1.64477204e+01] [-1.31106392e-02 1.48558304e-04 9.99914041e-01 -2.20583397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:-16.45, Z:-2.21 [[ 9.89194050e-01 1.46040858e-01 1.29305587e-02 1.01806944e+02] [-1.46026479e-01 9.89278549e-01 -2.05434262e-03 -1.64511084e+01] [-1.30919423e-02 1.43939537e-04 9.99914286e-01 -2.20591455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:-16.45, Z:-2.21 [[ 9.89138342e-01 1.46417724e-01 1.29301743e-02 1.01834533e+02] [-1.46403394e-01 9.89222842e-01 -2.05311255e-03 -1.64545756e+01] [-1.30914358e-02 1.37790956e-04 9.99914294e-01 -2.20633222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:-16.46, Z:-2.21 [[ 9.89094516e-01 1.46715720e-01 1.29049095e-02 1.01861173e+02] [-1.46701482e-01 9.89178690e-01 -2.04822543e-03 -1.64582240e+01] [-1.30657683e-02 1.32719198e-04 9.99914630e-01 -2.20673842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.89, Y:-16.46, Z:-2.21 [[ 9.88902360e-01 1.47987552e-01 1.31075469e-02 1.01887678e+02] [-1.47972991e-01 9.88989217e-01 -2.07923940e-03 -1.64609692e+01] [-1.32709241e-02 1.16601828e-04 9.99911931e-01 -2.20752906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:-16.46, Z:-2.21 [[ 9.88616825e-01 1.49905754e-01 1.28466870e-02 1.01915577e+02] [-1.49891943e-01 9.88700287e-01 -2.03672998e-03 -1.64627861e+01] [-1.30068407e-02 8.79306513e-05 9.99915404e-01 -2.20763256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:-16.47, Z:-2.21 [[ 9.88466027e-01 1.50911620e-01 1.26726882e-02 1.01942946e+02] [-1.50898274e-01 9.88547256e-01 -2.00830957e-03 -1.64654686e+01] [-1.28306284e-02 7.28590059e-05 9.99917681e-01 -2.20844355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:-16.47, Z:-2.21 [[ 9.88281428e-01 1.52113729e-01 1.26977097e-02 1.01971030e+02] [-1.52100444e-01 9.88362995e-01 -2.01110510e-03 -1.64683469e+01] [-1.28558631e-02 5.62105419e-05 9.99917358e-01 -2.20891257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:-16.47, Z:-2.21 [[ 9.87949997e-01 1.54234093e-01 1.29092263e-02 1.01999040e+02] [-1.54220556e-01 9.88034333e-01 -2.04364104e-03 -1.64694918e+01] [-1.30699579e-02 2.81471155e-05 9.99914584e-01 -2.20980801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:-16.47, Z:-2.21 [[ 9.87831331e-01 1.55002088e-01 1.27911530e-02 1.02027288e+02] [-1.54988874e-01 9.87914142e-01 -2.02402760e-03 -1.64720733e+01] [-1.29502894e-02 1.69114909e-05 9.99916141e-01 -2.21004158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:-16.47, Z:-2.21 [[ 9.87719685e-01 1.55748596e-01 1.23369074e-02 1.02054638e+02] [-1.55736368e-01 9.87796727e-01 -1.95165239e-03 -1.64734876e+01] [-1.24903239e-02 6.38032654e-06 9.99921993e-01 -2.21093626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:-16.48, Z:-2.21 [[ 9.87707205e-01 1.55813402e-01 1.25164584e-02 1.02081443e+02] [-1.55800840e-01 9.87786507e-01 -1.97850123e-03 -1.64760446e+01] [-1.26718657e-02 4.10519379e-06 9.99919709e-01 -2.21181984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:-16.48, Z:-2.21 [[ 9.87710454e-01 1.55809018e-01 1.23129311e-02 1.02108987e+02] [-1.55796886e-01 9.87787199e-01 -1.94435274e-03 -1.64783509e+01] [-1.24655034e-02 2.14120760e-06 9.99922303e-01 -2.21224892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:-16.48, Z:-2.21 [[ 9.87830125e-01 1.55031495e-01 1.25251666e-02 1.02136162e+02] [-1.55018889e-01 9.87909528e-01 -1.97702427e-03 -1.64789075e+01] [-1.26802325e-02 1.13267226e-05 9.99919603e-01 -2.21253750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:-16.48, Z:-2.21 [[ 9.87930505e-01 1.54372453e-01 1.27461272e-02 1.02163412e+02] [-1.54359354e-01 9.88012725e-01 -2.01110908e-03 -1.64814457e+01] [-1.29037958e-02 1.93520420e-05 9.99916742e-01 -2.21286306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:-16.48, Z:-2.21 [[ 9.88244935e-01 1.52265182e-01 1.36843766e-02 1.02191669e+02] [-1.52249912e-01 9.88339674e-01 -2.15694381e-03 -1.64835033e+01] [-1.38532397e-02 4.81436657e-05 9.99904038e-01 -2.21307038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:-16.49, Z:-2.21 [[ 9.88476736e-01 1.50720877e-01 1.40341996e-02 1.02218445e+02] [-1.50704675e-01 9.88576356e-01 -2.21109425e-03 -1.64872156e+01] [-1.42071360e-02 7.05957400e-05 9.99899071e-01 -2.21315808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:-16.49, Z:-2.21 [[ 9.89121898e-01 1.46266081e-01 1.56238586e-02 1.02245867e+02] [-1.46245467e-01 9.89245274e-01 -2.46003607e-03 -1.64918978e+01] [-1.58156482e-02 1.48357038e-04 9.99874914e-01 -2.21432601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:-16.50, Z:-2.21 [[ 9.89528901e-01 1.43482016e-01 1.56673057e-02 1.02273070e+02] [-1.43460956e-01 9.89652906e-01 -2.46573521e-03 -1.64966134e+01] [-1.58589833e-02 1.92269593e-04 9.99874220e-01 -2.21444583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:-16.50, Z:-2.21 [[ 9.90405161e-01 1.37303774e-01 1.56617669e-02 1.02300041e+02] [-1.37281973e-01 9.90528944e-01 -2.46382510e-03 -1.65014454e+01] [-1.58517259e-02 2.90106824e-04 9.99874311e-01 -2.21458678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:-16.51, Z:-2.22 [[ 9.90413433e-01 1.37244057e-01 1.56620756e-02 1.02328198e+02] [-1.37222279e-01 9.90537221e-01 -2.46186123e-03 -1.65057485e+01] [-1.58517446e-02 2.89074718e-04 9.99874311e-01 -2.21513668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:-16.51, Z:-2.22 [[ 9.90829894e-01 1.34209452e-01 1.56186796e-02 1.02354665e+02] [-1.34187432e-01 9.90952930e-01 -2.45416220e-03 -1.65102572e+01] [-1.58067481e-02 3.35826763e-04 9.99875009e-01 -2.21530562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:-16.52, Z:-2.22 [[ 9.91181301e-01 1.31593803e-01 1.55788334e-02 1.02380914e+02] [-1.31571592e-01 9.91303652e-01 -2.44662293e-03 -1.65152515e+01] [-1.57653148e-02 3.75314992e-04 9.99875649e-01 -2.21616862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:-16.52, Z:-2.22 [[ 9.91786402e-01 1.27036287e-01 1.48833864e-02 1.02408793e+02] [-1.27015527e-01 9.91897979e-01 -2.33573548e-03 -1.65230339e+01] [-1.50595241e-02 4.26129518e-04 9.99886508e-01 -2.21674035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:-16.53, Z:-2.22 [[ 9.92007574e-01 1.25321977e-01 1.46756901e-02 1.02436558e+02] [-1.25301615e-01 9.92116023e-01 -2.30245798e-03 -1.65292136e+01] [-1.48485359e-02 4.45168068e-04 9.99889655e-01 -2.21769820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:-16.54, Z:-2.22 [[ 9.92357060e-01 1.22563960e-01 1.43367189e-02 1.02463927e+02] [-1.22544250e-01 9.92460503e-01 -2.24861058e-03 -1.65384668e+01] [-1.45042259e-02 4.74542114e-04 9.99894696e-01 -2.21859592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:-16.55, Z:-2.22 [[ 9.92483318e-01 1.21563534e-01 1.41128104e-02 1.02491005e+02] [-1.21544343e-01 9.92583536e-01 -2.21288377e-03 -1.65454049e+01] [-1.42771492e-02 4.80917955e-04 9.99897961e-01 -2.21875848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:-16.55, Z:-2.22 [[ 9.92592995e-01 1.20544585e-01 1.51046330e-02 1.02517616e+02] [-1.20522499e-01 9.92707773e-01 -2.36737648e-03 -1.65540917e+01] [-1.52798610e-02 5.29393192e-04 9.99883116e-01 -2.21961482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:-16.56, Z:-2.22 [[ 9.92583596e-01 1.20625514e-01 1.50761695e-02 1.02545536e+02] [-1.20603535e-01 9.92697944e-01 -2.36196295e-03 -1.65607104e+01] [-1.52509955e-02 5.26206338e-04 9.99883558e-01 -2.21991105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:-16.57, Z:-2.22 [[ 9.92521899e-01 1.21136748e-01 1.50388929e-02 1.02573709e+02] [-1.21114947e-01 9.92635694e-01 -2.35540727e-03 -1.65681450e+01] [-1.52134683e-02 5.16358577e-04 9.99884135e-01 -2.22007328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:-16.58, Z:-2.22 [[ 9.92276811e-01 1.23142339e-01 1.49229562e-02 1.02601775e+02] [-1.23121110e-01 9.92388902e-01 -2.33654546e-03 -1.65782236e+01] [-1.50971038e-02 4.81168952e-04 9.99885916e-01 -2.22055438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:-16.59, Z:-2.22 [[ 9.92091630e-01 1.24608611e-01 1.50629061e-02 1.02628738e+02] [-1.24587161e-01 9.92205866e-01 -2.35780256e-03 -1.65855149e+01] [-1.52393063e-02 4.62511476e-04 9.99883768e-01 -2.22160988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:-16.60, Z:-2.22 [[ 9.91653492e-01 1.28086053e-01 1.47416240e-02 1.02655963e+02] [-1.28065908e-01 9.91762978e-01 -2.30642212e-03 -1.65968276e+01] [-1.49156174e-02 3.99272086e-04 9.99888676e-01 -2.22182104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:-16.60, Z:-2.22 [[ 9.91377430e-01 1.30205896e-01 1.47382767e-02 1.02683392e+02] [-1.30186001e-01 9.91486909e-01 -2.30546458e-03 -1.66040647e+01] [-1.49129935e-02 3.66868244e-04 9.99888728e-01 -2.22223852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.71, Y:-16.61, Z:-2.22 [[ 9.91052094e-01 1.32685624e-01 1.45007670e-02 1.02711917e+02] [-1.32666643e-01 9.91158121e-01 -2.26739354e-03 -1.66108917e+01] [-1.46734035e-02 3.23337034e-04 9.99892288e-01 -2.22284168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:-16.62, Z:-2.22 [[ 9.90251326e-01 1.38526983e-01 1.45803299e-02 1.02739227e+02] [-1.38508436e-01 9.90358631e-01 -2.27916900e-03 -1.66190682e+01] [-1.47554819e-02 2.37451437e-04 9.99891104e-01 -2.22302855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.77, Y:-16.63, Z:-2.22 [[ 9.89828151e-01 1.41564288e-01 1.41345063e-02 1.02767361e+02] [-1.41547181e-01 9.89929047e-01 -2.20852839e-03 -1.66256873e+01] [-1.43048071e-02 1.85364050e-04 9.99897664e-01 -2.22350566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:-16.64, Z:-2.22 [[ 9.88965324e-01 1.47496497e-01 1.38697956e-02 1.02793595e+02] [-1.47480616e-01 9.89062573e-01 -2.16657627e-03 -1.66350312e+01] [-1.40376581e-02 9.71428099e-05 9.99901463e-01 -2.22446263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:-16.64, Z:-2.22 [[ 9.88551300e-01 1.50261610e-01 1.37031497e-02 1.02821415e+02] [-1.50246386e-01 9.88646269e-01 -2.13967048e-03 -1.66418137e+01] [-1.38690781e-02 5.63253114e-05 9.99903818e-01 -2.22467600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:-16.65, Z:-2.23 [[ 9.87744916e-01 1.55453698e-01 1.39330401e-02 1.02848358e+02] [-1.55438483e-01 9.87843180e-01 -2.17494057e-03 -1.66500786e+01] [-1.41017612e-02 -1.74441362e-05 9.99900565e-01 -2.22521672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:-16.66, Z:-2.23 [[ 9.87322966e-01 1.58134548e-01 1.36683856e-02 1.02875549e+02] [-1.58120173e-01 9.87417572e-01 -2.13289242e-03 -1.66560106e+01] [-1.38336881e-02 -5.53938220e-05 9.99904308e-01 -2.22560904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:-16.66, Z:-2.23 [[ 9.86535778e-01 1.62947233e-01 1.39770705e-02 1.02901600e+02] [-1.62932697e-01 9.86634777e-01 -2.18008620e-03 -1.66628141e+01] [-1.41455028e-02 -1.26588756e-04 9.99899939e-01 -2.22623754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:-16.67, Z:-2.23 [[ 9.86135717e-01 1.65324123e-01 1.42927293e-02 1.02928735e+02] [-1.65309192e-01 9.86239275e-01 -2.22803498e-03 -1.66685520e+01] [-1.44643989e-02 -1.65574659e-04 9.99895371e-01 -2.22687646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:-16.67, Z:-2.23 [[ 9.85783065e-01 1.67412244e-01 1.43139597e-02 1.02956101e+02] [-1.67397503e-01 9.85886962e-01 -2.23032805e-03 -1.66744494e+01] [-1.44853304e-02 -1.97501486e-04 9.99895063e-01 -2.22726433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:-16.68, Z:-2.23 [[ 9.85185142e-01 1.70910233e-01 1.41395865e-02 1.02983509e+02] [-1.70896223e-01 9.85286573e-01 -2.20217511e-03 -1.66812200e+01] [-1.43079190e-02 -2.46851724e-04 9.99897606e-01 -2.22810073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.01, Y:-16.69, Z:-2.23 [[ 9.84947070e-01 1.72310948e-01 1.37188438e-02 1.03009634e+02] [-1.72297908e-01 9.85042572e-01 -2.13576691e-03 -1.66859576e+01] [-1.38816612e-02 -2.60110728e-04 9.99903611e-01 -2.22899302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.04, Y:-16.69, Z:-2.23 [[ 9.84522006e-01 1.74770744e-01 1.30998913e-02 1.03036945e+02] [-1.74759085e-01 9.84609114e-01 -2.03832660e-03 -1.66913960e+01] [-1.32545122e-02 -2.82547629e-04 9.99912115e-01 -2.23034018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:-16.70, Z:-2.23 [[ 9.84363142e-01 1.75686857e-01 1.27801610e-02 1.03063289e+02] [-1.75675849e-01 9.84446060e-01 -1.98775279e-03 -1.66957566e+01] [-1.29306012e-02 -2.88495045e-04 9.99916355e-01 -2.23114546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.09, Y:-16.70, Z:-2.23 [[ 9.84322195e-01 1.75929443e-01 1.25955738e-02 1.03090625e+02] [-1.75918784e-01 9.84402737e-01 -1.95791413e-03 -1.66999634e+01] [-1.27435721e-02 -2.88579698e-04 9.99918756e-01 -2.23191186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.12, Y:-16.70, Z:-2.23 [[ 9.84429868e-01 1.75381891e-01 1.17909383e-02 1.03117607e+02] [-1.75372520e-01 9.84500443e-01 -1.83216620e-03 -1.67045519e+01] [-1.19295127e-02 -2.64167421e-04 9.99928806e-01 -2.23295953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:-16.71, Z:-2.23 [[ 9.84555483e-01 1.74675142e-01 1.17938639e-02 1.03145359e+02] [-1.74665728e-01 9.84626086e-01 -1.83156241e-03 -1.67094832e+01] [-1.19324744e-02 -2.56709001e-04 9.99928773e-01 -2.23382219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:-16.71, Z:-2.23 [[ 9.84654184e-01 1.74084398e-01 1.22784166e-02 1.03171968e+02] [-1.74074160e-01 9.84730701e-01 -1.90594697e-03 -1.67139001e+01] [-1.24227294e-02 -2.60656384e-04 9.99922801e-01 -2.23409629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:-16.72, Z:-2.23 [[ 9.84637261e-01 1.74159101e-01 1.25726336e-02 1.03199847e+02] [-1.74148387e-01 9.84717490e-01 -1.95043827e-03 -1.67176774e+01] [-1.27201788e-02 -2.69029676e-04 9.99919059e-01 -2.23417643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.478623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:-16.72, Z:-2.23 [[ 9.84626928e-01 1.74174668e-01 1.31528804e-02 1.03228188e+02] [-1.74162957e-01 9.84714733e-01 -2.03945513e-03 -1.67201222e+01] [-1.33070566e-02 -2.82642113e-04 9.99911417e-01 -2.23496962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:-16.72, Z:-2.24 [[ 9.84690238e-01 1.73813381e-01 1.31925364e-02 1.03255002e+02] [-1.73801579e-01 9.84778569e-01 -2.04472047e-03 -1.67230989e+01] [-1.33471269e-02 -2.79467372e-04 9.99910884e-01 -2.23586815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.538623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:-16.73, Z:-2.24 [[ 9.84750774e-01 1.73466811e-01 1.32355053e-02 1.03282554e+02] [-1.73454916e-01 9.84839677e-01 -2.05019131e-03 -1.67264130e+01] [-1.33904909e-02 -2.76835970e-04 9.99910305e-01 -2.23662659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:-16.73, Z:-2.24 [[ 9.85074082e-01 1.71652980e-01 1.28182327e-02 1.03309316e+02] [-1.71641678e-01 9.85157447e-01 -1.98488684e-03 -1.67284925e+01] [-1.29686892e-02 -2.44882395e-04 9.99915873e-01 -2.23710536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.598623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:-16.73, Z:-2.24 [[ 9.85292343e-01 1.70409625e-01 1.26316249e-02 1.03337458e+02] [-1.70398567e-01 9.85373284e-01 -1.95448754e-03 -1.67315552e+01] [-1.27799292e-02 -2.26669168e-04 9.99918308e-01 -2.23811673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:-16.73, Z:-2.24 [[ 9.85712129e-01 1.68003295e-01 1.21033705e-02 1.03364539e+02] [-1.67992970e-01 9.85786416e-01 -1.87201384e-03 -1.67329807e+01] [-1.22458427e-02 -1.88014407e-04 9.99924999e-01 -2.23894655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:-16.74, Z:-2.24 [[ 9.85951333e-01 1.66568675e-01 1.24437046e-02 1.03392711e+02] [-1.66557662e-01 9.86029840e-01 -1.92347733e-03 -1.67356969e+01] [-1.25902551e-02 -1.76139303e-04 9.99920724e-01 -2.23930316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:-16.74, Z:-2.24 [[ 9.86134449e-01 1.65464357e-01 1.26646878e-02 1.03420809e+02] [-1.65452871e-01 9.86215757e-01 -1.95669672e-03 -1.67385343e+01] [-1.28138783e-02 -1.65842915e-04 9.99917885e-01 -2.23934231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:-16.74, Z:-2.24 [[ 9.86454566e-01 1.63512126e-01 1.30833682e-02 1.03448972e+02] [-1.63499709e-01 9.86541313e-01 -2.02039963e-03 -1.67395306e+01] [-1.32376431e-02 -1.46094450e-04 9.99912368e-01 -2.23981319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.48, Y:-16.74, Z:-2.24 [[ 9.86762318e-01 1.61622831e-01 1.33487226e-02 1.03476407e+02] [-1.61609744e-01 9.86852595e-01 -2.06044078e-03 -1.67415970e+01] [-1.35062358e-02 -1.24118316e-04 9.99908779e-01 -2.23988614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:-16.74, Z:-2.24 [[ 9.86943619e-01 1.60511326e-01 1.33569432e-02 1.03503430e+02] [-1.60498136e-01 9.87033992e-01 -2.06057553e-03 -1.67448893e+01] [-1.35145027e-02 -1.10092634e-04 9.99908669e-01 -2.24115048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:-16.75, Z:-2.24 [[ 9.87193769e-01 1.58980642e-01 1.31764333e-02 1.03531206e+02] [-1.58967686e-01 9.87281696e-01 -2.03159322e-03 -1.67481503e+01] [-1.33318354e-02 -8.90509409e-05 9.99911123e-01 -2.24140592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.56, Y:-16.75, Z:-2.24 [[ 9.87681030e-01 1.55924695e-01 1.31784890e-02 1.03558616e+02] [-1.55911473e-01 9.87768944e-01 -2.03109675e-03 -1.67495970e+01] [-1.33340003e-02 -4.86018949e-05 9.99911097e-01 -2.23733148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:-16.75, Z:-2.24 [[ 9.87965608e-01 1.54076212e-01 1.35822687e-02 1.03586761e+02] [-1.54062015e-01 9.88058966e-01 -2.09173714e-03 -1.67529319e+01] [-1.37423693e-02 -2.59473292e-05 9.99905569e-01 -2.24274224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:-16.76, Z:-2.24 [[ 9.88553657e-01 1.50324248e-01 1.28174660e-02 1.03615692e+02] [-1.50311303e-01 9.88636748e-01 -1.97293116e-03 -1.67554234e+01] [-1.29683973e-02 2.37383093e-05 9.99915907e-01 -2.24334839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:-16.76, Z:-2.24 [[ 9.88819349e-01 1.48596594e-01 1.24638058e-02 1.03643544e+02] [-1.48584222e-01 9.88897897e-01 -1.91797218e-03 -1.67583788e+01] [-1.26104355e-02 4.46031121e-05 9.99920484e-01 -2.24383241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:-16.76, Z:-2.24 [[ 9.89019962e-01 1.47284591e-01 1.21146450e-02 1.03672499e+02] [-1.47272814e-01 9.89094154e-01 -1.86342378e-03 -1.67619419e+01] [-1.22569782e-02 5.88054568e-05 9.99924879e-01 -2.24435474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:-16.77, Z:-2.24 [[ 9.89324741e-01 1.45232156e-01 1.20074378e-02 1.03700702e+02] [-1.45220443e-01 9.89397602e-01 -1.84634813e-03 -1.67654112e+01] [-1.21482792e-02 8.29124507e-05 9.99926203e-01 -2.24494710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:-16.77, Z:-2.25 [[ 9.89391742e-01 1.44740444e-01 1.24171307e-02 1.03728445e+02] [-1.44727886e-01 9.89469654e-01 -1.90877829e-03 -1.67693560e+01] [-1.25626514e-02 9.14244020e-05 9.99921083e-01 -2.24579506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:-16.77, Z:-2.25 [[ 9.89490677e-01 1.44016063e-01 1.29450038e-02 1.03756691e+02] [-1.44002365e-01 9.89575345e-01 -1.98900559e-03 -1.67727479e+01] [-1.30965054e-02 1.03991320e-04 9.99914232e-01 -2.24536435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:-16.78, Z:-2.25 [[ 9.89502298e-01 1.43901472e-01 1.33255066e-02 1.03784333e+02] [-1.43886955e-01 9.89592014e-01 -2.04689369e-03 -1.67757329e+01] [-1.34813659e-02 1.08039451e-04 9.99909116e-01 -2.24569902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:-16.78, Z:-2.25 [[ 9.89580509e-01 1.43359259e-01 1.33618399e-02 1.03812603e+02] [-1.43344626e-01 9.89670708e-01 -2.05150032e-03 -1.67785170e+01] [-1.35179231e-02 1.14776788e-04 9.99908622e-01 -2.24576069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:-16.78, Z:-2.25 [[ 9.89795994e-01 1.41824341e-01 1.37748796e-02 1.03840704e+02] [-1.41808649e-01 9.89891831e-01 -2.11426909e-03 -1.67813872e+01] [-1.39354957e-02 1.39297999e-04 9.99902887e-01 -2.24670414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:-16.79, Z:-2.25 [[ 9.89956395e-01 1.40685296e-01 1.39278027e-02 1.03869483e+02] [-1.40669155e-01 9.90054354e-01 -2.13680538e-03 -1.67856583e+01] [-1.40898988e-02 1.56131923e-04 9.99900720e-01 -2.24709766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:-16.79, Z:-2.25 [[ 9.90414722e-01 1.37373703e-01 1.43925293e-02 1.03897070e+02] [-1.37356125e-01 9.90519269e-01 -2.20745006e-03 -1.67900202e+01] [-1.45593232e-02 2.09388977e-04 9.99893986e-01 -2.24759423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:-16.79, Z:-2.25 [[ 9.90671912e-01 1.35513406e-01 1.43275830e-02 1.03925128e+02] [-1.35495808e-01 9.90775485e-01 -2.19646408e-03 -1.67949811e+01] [-1.44930683e-02 2.34647839e-04 9.99894942e-01 -2.24831824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:-16.80, Z:-2.25 [[ 9.91196113e-01 1.31725291e-01 1.33684061e-02 1.03952808e+02] [-1.31709632e-01 9.91286222e-01 -2.04893124e-03 -1.68005632e+01] [-1.35218128e-02 2.70144835e-04 9.99908540e-01 -2.24928744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:-16.81, Z:-2.25 [[ 9.91430319e-01 1.30000499e-01 1.28760300e-02 1.03981085e+02] [-1.29985838e-01 9.91513888e-01 -1.97257531e-03 -1.68055149e+01] [-1.30231983e-02 2.81969421e-04 9.99915155e-01 -2.25044819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:-16.81, Z:-2.25 [[ 9.91602413e-01 1.28740580e-01 1.22685290e-02 1.04009300e+02] [-1.28727181e-01 9.91678266e-01 -1.87896487e-03 -1.68106029e+01] [-1.24083326e-02 2.83892937e-04 9.99922973e-01 -2.25125359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:-16.82, Z:-2.25 [[ 9.91790255e-01 1.27309110e-01 1.20199761e-02 1.04036302e+02] [-1.27296149e-01 9.91863047e-01 -1.84043138e-03 -1.68171545e+01] [-1.21564738e-02 2.95225242e-04 9.99926064e-01 -2.25214313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:-16.82, Z:-2.25 [[ 9.91814914e-01 1.27046355e-01 1.27436346e-02 1.04063789e+02] [-1.27031775e-01 9.91896730e-01 -1.95041214e-03 -1.68240432e+01] [-1.28881623e-02 3.15601321e-04 9.99916894e-01 -2.25195323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:-16.83, Z:-2.25 [[ 9.91819248e-01 1.27012506e-01 1.27437680e-02 1.04092788e+02] [-1.26997934e-01 9.91901066e-01 -1.94954000e-03 -1.68283963e+01] [-1.28881731e-02 3.15159079e-04 9.99916894e-01 -2.25251916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:-16.83, Z:-2.25 [[ 9.91827775e-01 1.26902002e-01 1.31737364e-02 1.04119788e+02] [-1.26886425e-01 9.91915206e-01 -2.01496973e-03 -1.68341335e+01] [-1.33229332e-02 3.26934621e-04 9.99911192e-01 -2.25274912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:-16.84, Z:-2.25 [[ 9.91879761e-01 1.26462003e-01 1.34871050e-02 1.04147547e+02] [-1.26445647e-01 9.91971394e-01 -2.06202800e-03 -1.68408251e+01] [-1.36395905e-02 3.39898114e-04 9.99906919e-01 -2.25346742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:-16.85, Z:-2.25 [[ 9.91991531e-01 1.25531426e-01 1.39521727e-02 1.04175877e+02] [-1.25513841e-01 9.92089577e-01 -2.13247585e-03 -1.68490770e+01] [-1.41094978e-02 3.64207201e-04 9.99900390e-01 -2.25342490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:-16.86, Z:-2.25 [[ 9.92022714e-01 1.25257271e-01 1.41968718e-02 1.04203193e+02] [-1.25239046e-01 9.92124224e-01 -2.16908586e-03 -1.68571189e+01] [-1.43567542e-02 3.73779763e-04 9.99896867e-01 -2.25410024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:-16.86, Z:-2.25 [[ 9.92026944e-01 1.25254597e-01 1.39222012e-02 1.04230053e+02] [-1.25237076e-01 9.92124565e-01 -2.12671917e-03 -1.68636921e+01] [-1.40789391e-02 3.66186959e-04 9.99900820e-01 -2.25474450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:-16.87, Z:-2.25 [[ 9.91979329e-01 1.25661325e-01 1.36470672e-02 1.04257693e+02] [-1.25644540e-01 9.92073136e-01 -2.08380135e-03 -1.68709814e+01] [-1.38007419e-02 3.52408388e-04 9.99904703e-01 -2.25496437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:-16.88, Z:-2.26 [[ 9.91807718e-01 1.27046495e-01 1.32905583e-02 1.04285875e+02] [-1.27030706e-01 9.91896710e-01 -2.02899568e-03 -1.68798719e+01] [-1.34406378e-02 3.24064579e-04 9.99909618e-01 -2.25604543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:-16.89, Z:-2.26 [[ 9.91628576e-01 1.28501310e-01 1.26562167e-02 1.04314027e+02] [-1.28487117e-01 9.91709297e-01 -1.93161815e-03 -1.68861774e+01] [-1.27995032e-02 2.89286956e-04 9.99918041e-01 -2.25667485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:-16.89, Z:-2.26 [[ 9.91171443e-01 1.31968984e-01 1.27811535e-02 1.04341098e+02] [-1.31954804e-01 9.91253815e-01 -1.95017327e-03 -1.68945454e+01] [-1.29267296e-02 2.46421446e-04 9.99916416e-01 -2.25751189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:-16.90, Z:-2.26 [[ 9.90933601e-01 1.33719968e-01 1.30218819e-02 1.04369815e+02] [-1.33705412e-01 9.91019131e-01 -1.98596859e-03 -1.69010905e+01] [-1.31704978e-02 2.26866914e-04 9.99913239e-01 -2.25788506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:-16.91, Z:-2.26 [[ 9.90672842e-01 1.35643384e-01 1.29688854e-02 1.04397786e+02] [-1.35629115e-01 9.90757706e-01 -1.97756961e-03 -1.69071947e+01] [-1.31172673e-02 2.00166065e-04 9.99913945e-01 -2.25839916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:-16.92, Z:-2.26 [[ 9.90144165e-01 1.39451725e-01 1.29517963e-02 1.04425508e+02] [-1.39437822e-01 9.90228859e-01 -1.97474264e-03 -1.69151892e+01] [-1.31006238e-02 1.49309628e-04 9.99914172e-01 -2.25897960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:-16.92, Z:-2.26 [[ 9.89879551e-01 1.41332096e-01 1.27950506e-02 1.04452944e+02] [-1.41318692e-01 9.89962233e-01 -1.95031574e-03 -1.69214210e+01] [-1.29422590e-02 1.22397867e-04 9.99916238e-01 -2.25935296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:-16.93, Z:-2.26 [[ 9.89366460e-01 1.44897248e-01 1.26013665e-02 1.04480867e+02] [-1.44884546e-01 9.89446705e-01 -1.91998014e-03 -1.69278509e+01] [-1.27465804e-02 7.38207011e-05 9.99918756e-01 -2.25945941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:-16.93, Z:-2.26 [[ 9.89076893e-01 1.46871266e-01 1.24792235e-02 1.04509359e+02] [-1.46858974e-01 9.89155614e-01 -1.90077948e-03 -1.69326126e+01] [-1.26230638e-02 4.73311114e-05 9.99920325e-01 -2.25990488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:-16.94, Z:-2.26 [[ 9.88580779e-01 1.50154845e-01 1.27108987e-02 1.04536463e+02] [-1.50142370e-01 9.88662492e-01 -1.93551596e-03 -1.69392780e+01] [-1.28574158e-02 4.96942680e-06 9.99917340e-01 -2.26053074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:-16.95, Z:-2.26 [[ 9.88346619e-01 1.51680392e-01 1.28069788e-02 1.04564486e+02] [-1.51667866e-01 9.88429592e-01 -1.94930104e-03 -1.69452684e+01] [-1.29544676e-02 -1.58220587e-05 9.99916087e-01 -2.26096154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.59, Y:-16.95, Z:-2.26 [[ 9.87943008e-01 1.54345633e-01 1.20846815e-02 1.04592942e+02] [-1.54334687e-01 9.88016915e-01 -1.83876702e-03 -1.69505345e+01] [-1.22236754e-02 -4.84885159e-05 9.99925287e-01 -2.25557927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:-16.96, Z:-2.26 [[ 9.87707237e-01 1.55806712e-01 1.25968826e-02 1.04620571e+02] [-1.55794942e-01 9.87787560e-01 -1.91637238e-03 -1.69562087e+01] [-1.27416276e-02 -6.97157250e-05 9.99918820e-01 -2.26147149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:-16.96, Z:-2.26 [[ 9.87495714e-01 1.57130401e-01 1.27377861e-02 1.04649162e+02] [-1.57118487e-01 9.87577860e-01 -1.93694517e-03 -1.69616143e+01] [-1.28839085e-02 -8.86166178e-05 9.99916995e-01 -2.26228973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:-16.97, Z:-2.26 [[ 9.87090422e-01 1.59647497e-01 1.28520427e-02 1.04677186e+02] [-1.59635590e-01 9.87174079e-01 -1.95370413e-03 -1.69666584e+01] [-1.29991074e-02 -1.23160780e-04 9.99915500e-01 -2.26249725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:-16.97, Z:-2.26 [[ 9.86882002e-01 1.60931406e-01 1.28451025e-02 1.04706095e+02] [-1.60919628e-01 9.86965583e-01 -1.95201710e-03 -1.69709380e+01] [-1.29918150e-02 -1.40618578e-04 9.99915593e-01 -2.26297930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:-16.98, Z:-2.26 [[ 9.86472217e-01 1.63424336e-01 1.28472647e-02 1.04733268e+02] [-1.63412773e-01 9.86555856e-01 -1.95177944e-03 -1.69763082e+01] [-1.29935125e-02 -1.74030958e-04 9.99915566e-01 -2.26360673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:-16.98, Z:-2.26 [[ 9.86300472e-01 1.64451575e-01 1.29251436e-02 1.04761610e+02] [-1.64439972e-01 9.86385140e-01 -1.96272060e-03 -1.69805506e+01] [-1.30719421e-02 -1.89577991e-04 9.99914541e-01 -2.26395110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:-16.98, Z:-2.26 [[ 9.85855778e-01 1.67033095e-01 1.37233732e-02 1.04790623e+02] [-1.67020273e-01 9.85951261e-01 -2.08320590e-03 -1.69829338e+01] [-1.38785414e-02 -2.38340964e-04 9.99903660e-01 -2.26407339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:-16.99, Z:-2.26 [[ 9.85635565e-01 1.68340781e-01 1.35615113e-02 1.04819464e+02] [-1.68328393e-01 9.85728825e-01 -2.05798839e-03 -1.69861411e+01] [-1.37144160e-02 -2.54360850e-04 9.99905921e-01 -2.26489923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:-16.99, Z:-2.27 [[ 9.85433672e-01 1.69596693e-01 1.25475206e-02 1.04846727e+02] [-1.69586196e-01 9.85513520e-01 -1.90365085e-03 -1.69892497e+01] [-1.26886041e-02 -2.51964650e-04 9.99919465e-01 -2.26603524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:-16.99, Z:-2.27 [[ 9.85419456e-01 1.69696267e-01 1.23155779e-02 1.04875638e+02] [-1.69686172e-01 9.85496380e-01 -1.86765462e-03 -1.69929283e+01] [-1.24538914e-02 -2.49360069e-04 9.99922416e-01 -2.26685028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:-17.00, Z:-2.27 [[ 9.85434011e-01 1.69623931e-01 1.21462802e-02 1.04904540e+02] [-1.69614113e-01 9.85508834e-01 -1.84141734e-03 -1.69957817e+01] [-1.22826149e-02 -2.45585265e-04 9.99924536e-01 -2.26748393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:-17.00, Z:-2.27 [[ 9.85619645e-01 1.68502746e-01 1.26783473e-02 1.04932341e+02] [-1.68491964e-01 9.85701154e-01 -1.92153411e-03 -1.69971421e+01] [-1.28208453e-02 -2.42297868e-04 9.99917780e-01 -2.26745550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:-17.00, Z:-2.27 [[ 9.85788394e-01 1.67470916e-01 1.32186980e-02 1.04961058e+02] [-1.67459116e-01 9.85876988e-01 -2.00242206e-03 -1.70003911e+01] [-1.33673576e-02 -2.39627054e-04 9.99910624e-01 -2.26811201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:-17.00, Z:-2.27 [[ 9.86383777e-01 1.63931070e-01 1.31775509e-02 1.04988911e+02] [-1.63919034e-01 9.86471777e-01 -1.99563523e-03 -1.70032575e+01] [-1.33264287e-02 -1.91589211e-04 9.99911181e-01 -2.26802263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:-17.01, Z:-2.27 [[ 9.86764730e-01 1.61583385e-01 1.36446775e-02 1.05017543e+02] [-1.61570269e-01 9.86859049e-01 -2.06548140e-03 -1.70067116e+01] [-1.37991210e-02 -1.66430020e-04 9.99904774e-01 -2.26863706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:-17.01, Z:-2.27 [[ 9.87632736e-01 1.56138062e-01 1.42297012e-02 1.05045455e+02] [-1.56123241e-01 9.87735236e-01 -2.15335251e-03 -1.70102169e+01] [-1.43913976e-02 -9.48656498e-05 9.99896434e-01 -2.26907074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:-17.01, Z:-2.27 [[ 9.88163585e-01 1.52715122e-01 1.45196424e-02 1.05073864e+02] [-1.52699336e-01 9.88270251e-01 -2.19623341e-03 -1.70142848e+01] [-1.46847287e-02 -4.69018737e-05 9.99892172e-01 -2.26974710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.10, Y:-17.02, Z:-2.27 [[ 9.89224262e-01 1.45735010e-01 1.40237431e-02 1.05101800e+02] [-1.45719592e-01 9.89323660e-01 -2.12054323e-03 -1.70189811e+01] [-1.41830582e-02 5.41586958e-05 9.99899414e-01 -2.26760863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:-17.02, Z:-2.27 [[ 9.89756911e-01 1.42092346e-01 1.38211190e-02 1.05131154e+02] [-1.42077021e-01 9.89853400e-01 -2.08938461e-03 -1.70240954e+01] [-1.39777672e-02 1.04319432e-04 9.99902301e-01 -2.27143749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:-17.03, Z:-2.27 [[ 9.90274424e-01 1.38479141e-01 1.34198715e-02 1.05159218e+02] [-1.38464366e-01 9.90365339e-01 -2.02847968e-03 -1.70286298e+01] [-1.35714777e-02 1.50577552e-04 9.99907892e-01 -2.27217499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:-17.04, Z:-2.27 [[ 9.91197656e-01 1.31770324e-01 1.27979608e-02 1.05187801e+02] [-1.31756333e-01 9.91280247e-01 -1.93396158e-03 -1.70355466e+01] [-1.29412045e-02 2.30725793e-04 9.99916232e-01 -2.27316894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.22, Y:-17.04, Z:-2.27 [[ 9.91567726e-01 1.28934900e-01 1.30090973e-02 1.05217715e+02] [-1.28920205e-01 9.91653023e-01 -1.96540377e-03 -1.70418099e+01] [-1.31539198e-02 2.71695458e-04 9.99913447e-01 -2.27332709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.25, Y:-17.05, Z:-2.27 [[ 9.92127925e-01 1.24507507e-01 1.34187061e-02 1.05247816e+02] [-1.24491467e-01 9.92218607e-01 -2.02728713e-03 -1.70489433e+01] [-1.35667023e-02 3.40813768e-04 9.99907910e-01 -2.27344472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:-17.06, Z:-2.27 [[ 9.92304703e-01 1.23073442e-01 1.35758490e-02 1.05278678e+02] [-1.23056893e-01 9.92397498e-01 -2.05089320e-03 -1.70551022e+01] [-1.37250491e-02 3.64509173e-04 9.99905741e-01 -2.27383966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:-17.06, Z:-2.27 [[ 9.92422843e-01 1.22129247e-01 1.34665596e-02 1.05307965e+02] [-1.22112872e-01 9.92514134e-01 -2.03471083e-03 -1.70610327e+01] [-1.36142484e-02 3.74853244e-04 9.99907252e-01 -2.27420745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.34, Y:-17.07, Z:-2.27 [[ 9.92548613e-01 1.21120448e-01 1.33074194e-02 1.05337071e+02] [-1.21104362e-01 9.92637743e-01 -2.01105582e-03 -1.70688561e+01] [-1.34530267e-02 3.84484140e-04 9.99909430e-01 -2.27486243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.758623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.37, Y:-17.07, Z:-2.28 [[ 9.92562811e-01 1.21025098e-01 1.31145996e-02 1.05367879e+02] [-1.21009465e-01 9.92649375e-01 -1.98199674e-03 -1.70749953e+01] [-1.32580704e-02 3.80265570e-04 9.99912036e-01 -2.27537334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.40, Y:-17.08, Z:-2.28 [[ 9.92470717e-01 1.21816374e-01 1.27532940e-02 1.05397893e+02] [-1.21801652e-01 9.92552589e-01 -1.92768259e-03 -1.70831128e+01] [-1.28931383e-02 3.59796246e-04 9.99916815e-01 -2.27636503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.818623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.43, Y:-17.09, Z:-2.28 [[ 9.92387985e-01 1.22469717e-01 1.29327633e-02 1.05428657e+02] [-1.22454630e-01 9.92472187e-01 -1.95512094e-03 -1.70896139e+01] [-1.30748509e-02 3.56561791e-04 9.99914457e-01 -2.27658399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.46, Y:-17.10, Z:-2.28 [[ 9.92191445e-01 1.24015416e-01 1.32783231e-02 1.05459170e+02] [-1.23999645e-01 9.92280231e-01 -2.00768590e-03 -1.70975084e+01] [-1.34248016e-02 3.45501426e-04 9.99909824e-01 -2.27702014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.49, Y:-17.10, Z:-2.28 [[ 9.92110728e-01 1.24676770e-01 1.31151078e-02 1.05489693e+02] [-1.24661438e-01 9.92197356e-01 -1.98330773e-03 -1.71036897e+01] [-1.32600477e-02 3.32712679e-04 9.99912026e-01 -2.27743769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.52, Y:-17.11, Z:-2.28 [[ 9.91961768e-01 1.25854067e-01 1.31379195e-02 1.05518872e+02] [-1.25838780e-01 9.92048715e-01 -1.98714309e-03 -1.71121895e+01] [-1.32835462e-02 3.17910206e-04 9.99911719e-01 -2.27805173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.55, Y:-17.12, Z:-2.28 [[ 9.91863332e-01 1.26636481e-01 1.30511642e-02 1.05549639e+02] [-1.26621462e-01 9.91949146e-01 -1.97410326e-03 -1.71191520e+01] [-1.31960847e-02 3.05483143e-04 9.99912881e-01 -2.27827251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.58, Y:-17.13, Z:-2.28 [[ 9.91741543e-01 1.27577569e-01 1.31406150e-02 1.05580750e+02] [-1.27562432e-01 9.91828552e-01 -1.98710495e-03 -1.71261109e+01] [-1.32867472e-02 2.94445710e-04 9.99911684e-01 -2.27881443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.61, Y:-17.14, Z:-2.28 [[ 9.91473043e-01 1.29568392e-01 1.39009743e-02 1.05611022e+02] [-1.29551613e-01 9.91570446e-01 -2.10463992e-03 -1.71350349e+01] [-1.40564901e-02 2.85800105e-04 9.99901162e-01 -2.27919041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.64, Y:-17.14, Z:-2.28 [[ 9.91299747e-01 1.30883826e-01 1.39368763e-02 1.05642749e+02] [-1.30867061e-01 9.91397676e-01 -2.11216287e-03 -1.71421185e+01] [-1.40934347e-02 2.69908494e-04 9.99900646e-01 -2.27947921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:-17.15, Z:-2.28 [[ 9.90927363e-01 1.33670727e-01 1.39677543e-02 1.05673600e+02] [-1.33654131e-01 9.91025773e-01 -2.11914084e-03 -1.71510584e+01] [-1.41256716e-02 2.33066577e-04 9.99900201e-01 -2.28066210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:105.70, Y:-17.16, Z:-2.28 [[ 9.90722875e-01 1.35210408e-01 1.36503194e-02 1.05704451e+02] [-1.35194673e-01 9.90816886e-01 -2.07323045e-03 -1.71580405e+01] [-1.38052893e-02 2.08546358e-04 9.99904681e-01 -2.28105840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.73, Y:-17.17, Z:-2.28 [[ 9.90519588e-01 1.36747426e-01 1.30800637e-02 1.05734642e+02] [-1.36733087e-01 9.90605930e-01 -1.98850772e-03 -1.71654737e+01] [-1.32291120e-02 1.81178353e-04 9.99912475e-01 -2.28153396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.77, Y:-17.18, Z:-2.28 [[ 9.90112318e-01 1.39721994e-01 1.24644006e-02 1.05766107e+02] [-1.39709188e-01 9.90190762e-01 -1.89658084e-03 -1.71758280e+01] [-1.26071283e-02 1.36436763e-04 9.99920518e-01 -2.28208168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:-17.18, Z:-2.28 [[ 9.89895149e-01 1.41272230e-01 1.22373162e-02 1.05796245e+02] [-1.41259968e-01 9.89970779e-01 -1.86498400e-03 -1.71821152e+01] [-1.23780559e-02 1.17495722e-04 9.99923382e-01 -2.28292414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.83, Y:-17.19, Z:-2.28 [[ 9.89295100e-01 1.45444199e-01 1.18823752e-02 1.05827869e+02] [-1.45432952e-01 9.89366454e-01 -1.80983451e-03 -1.71905306e+01] [-1.20192534e-02 6.23715057e-05 9.99927764e-01 -2.28369894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.86, Y:-17.20, Z:-2.28 [[ 9.88928896e-01 1.47915324e-01 1.18615097e-02 1.05858807e+02] [-1.47904267e-01 9.89000028e-01 -1.80883669e-03 -1.71970025e+01] [-1.19985881e-02 3.44429611e-05 9.99928014e-01 -2.28435906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.89, Y:-17.20, Z:-2.28 [[ 9.88108923e-01 1.53312376e-01 1.16649858e-02 1.05889168e+02] [-1.53302036e-01 9.88177775e-01 -1.78075950e-03 -1.72040215e+01] [-1.18000921e-02 -2.86817225e-05 9.99930376e-01 -2.28488974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.92, Y:-17.21, Z:-2.29 [[ 9.88107190e-01 1.53323580e-01 1.16645449e-02 1.05919805e+02] [-1.53313207e-01 9.88176036e-01 -1.78364223e-03 -1.72087116e+01] [-1.18000982e-02 -2.58990851e-05 9.99930376e-01 -2.28548804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.95, Y:-17.21, Z:-2.28 [[ 9.87724210e-01 1.55805812e-01 1.11997383e-02 1.05951623e+02] [-1.55796422e-01 9.87787703e-01 -1.71139483e-03 -1.72143741e+01] [-1.13296090e-02 -5.44930474e-05 9.99935816e-01 -2.28330588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.98, Y:-17.22, Z:-2.29 [[ 9.87144094e-01 1.59432274e-01 1.13087463e-02 1.05981086e+02] [-1.59422900e-01 9.87208864e-01 -1.73134235e-03 -1.72208084e+01] [-1.14401265e-02 -9.37887634e-05 9.99934555e-01 -2.28754269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.01, Y:-17.23, Z:-2.29 [[ 9.86984685e-01 1.60425968e-01 1.11686861e-02 1.06011129e+02] [-1.60416887e-01 9.87047870e-01 -1.71004112e-03 -1.72261298e+01] [-1.12983628e-02 -1.03861462e-04 9.99936166e-01 -2.28853919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.04, Y:-17.23, Z:-2.29 [[ 9.86877563e-01 1.61104431e-01 1.08645081e-02 1.06042347e+02] [-1.61095879e-01 9.86937359e-01 -1.66348512e-03 -1.72319544e+01] [-1.09905838e-02 -1.08571350e-04 9.99939596e-01 -2.28964620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:106.07, Y:-17.24, Z:-2.29 [[ 9.86958604e-01 1.60604766e-01 1.09006282e-02 1.06073267e+02] [-1.60596124e-01 9.87018793e-01 -1.66928296e-03 -1.72373564e+01] [-1.10272197e-02 -1.03085462e-04 9.99939193e-01 -2.29020789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.478623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.10, Y:-17.24, Z:-2.29 [[ 9.87080738e-01 1.59850603e-01 1.09270738e-02 1.06104380e+02] [-1.59841882e-01 9.87141214e-01 -1.67249452e-03 -1.72431311e+01] [-1.10539142e-02 -9.57169125e-05 9.99938899e-01 -2.29115439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:106.14, Y:-17.25, Z:-2.29 [[ 9.87469537e-01 1.57450532e-01 1.06415738e-02 1.06135467e+02] [-1.57442091e-01 9.87526873e-01 -1.63159067e-03 -1.72500283e+01] [-1.07657349e-02 -6.42855567e-05 9.99942046e-01 -2.29162122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.538623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:106.17, Y:-17.26, Z:-2.29 [[ 9.87651388e-01 1.56314259e-01 1.05160718e-02 1.06166900e+02] [-1.56305962e-01 9.87707371e-01 -1.61131865e-03 -1.72551822e+01] [-1.06386737e-02 -5.23036159e-05 9.99943406e-01 -2.28619907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.20, Y:-17.26, Z:-2.29 [[ 9.88076251e-01 1.53567115e-01 1.10663501e-02 1.06197777e+02] [-1.53557733e-01 9.88138219e-01 -1.69763006e-03 -1.72626833e+01] [-1.11957836e-02 -2.19356911e-05 9.99937325e-01 -2.28989695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.598623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.23, Y:-17.27, Z:-2.29 [[ 9.88281639e-01 1.52218680e-01 1.13522995e-02 1.06228635e+02] [-1.52208686e-01 9.88346839e-01 -1.74419998e-03 -1.72695036e+01] [-1.14855091e-02 -4.15777412e-06 9.99934039e-01 -2.29346220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.26, Y:-17.28, Z:-2.29 [[ 9.88556359e-01 1.50411317e-01 1.15221754e-02 1.06260965e+02] [-1.50400890e-01 9.88623505e-01 -1.77115557e-03 -1.72754461e+01] [-1.16574953e-02 1.79416708e-05 9.99932049e-01 -2.28936387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.29, Y:-17.29, Z:-2.30 [[ 9.89124316e-01 1.46539873e-01 1.26156154e-02 1.06292481e+02] [-1.46527023e-01 9.89204762e-01 -1.94200669e-03 -1.72851957e+01] [-1.27640082e-02 7.23574730e-05 9.99918534e-01 -2.29537344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.32, Y:-17.29, Z:-2.30 [[ 9.89723569e-01 1.42418387e-01 1.28163884e-02 1.06323637e+02] [-1.42404744e-01 9.89806540e-01 -1.97560698e-03 -1.72932730e+01] [-1.29671079e-02 1.30190276e-04 9.99915915e-01 -2.29583698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.36, Y:-17.30, Z:-2.30 [[ 9.89978748e-01 1.40636498e-01 1.27848922e-02 1.06355007e+02] [-1.40622742e-01 9.90061287e-01 -1.97312029e-03 -1.72998955e+01] [-1.29353195e-02 1.55500569e-04 9.99916323e-01 -2.29626338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.39, Y:-17.31, Z:-2.30 [[ 9.90144205e-01 1.39427219e-01 1.32099646e-02 1.06387565e+02] [-1.39412392e-01 9.90232305e-01 -2.04119905e-03 -1.73076553e+01] [-1.33655324e-02 1.79448641e-04 9.99910661e-01 -2.29766540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.42, Y:-17.32, Z:-2.30 [[ 9.90306603e-01 1.38278579e-01 1.31097966e-02 1.06419817e+02] [-1.38263842e-01 9.90393354e-01 -2.02825242e-03 -1.73153038e+01] [-1.32643193e-02 1.95980907e-04 9.99912006e-01 -2.29750155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.45, Y:-17.32, Z:-2.30 [[ 9.90413564e-01 1.37570916e-01 1.24585594e-02 1.06451995e+02] [-1.37557523e-01 9.90491900e-01 -1.92972183e-03 -1.73249745e+01] [-1.26055758e-02 1.97454101e-04 9.99920527e-01 -2.29781752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:106.48, Y:-17.33, Z:-2.30 [[ 9.90349907e-01 1.38051796e-01 1.21968638e-02 1.06483050e+02] [-1.38038962e-01 9.90424992e-01 -1.89195898e-03 -1.73335341e+01] [-1.23412671e-02 1.90058973e-04 9.99923826e-01 -2.29878016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.52, Y:-17.34, Z:-2.30 [[ 9.90264085e-01 1.38660051e-01 1.22651024e-02 1.06515567e+02] [-1.38647107e-01 9.90340020e-01 -1.90355908e-03 -1.73403050e+01] [-1.24105693e-02 1.84505234e-04 9.99922969e-01 -2.29932155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.898623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.55, Y:-17.35, Z:-2.30 [[ 9.90162209e-01 1.39393440e-01 1.21765937e-02 1.06547415e+02] [-1.39380703e-01 9.90237061e-01 -1.89261023e-03 -1.73467616e+01] [-1.23215318e-02 1.76808936e-04 9.99924071e-01 -2.30034850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.58, Y:-17.36, Z:-2.30 [[ 9.89949877e-01 1.40898302e-01 1.21205944e-02 1.06579595e+02] [-1.40885783e-01 9.90024062e-01 -1.88484270e-03 -1.73562258e+01] [-1.22652512e-02 1.58280370e-04 9.99924766e-01 -2.30081277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.958623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:106.61, Y:-17.36, Z:-2.30 [[ 9.89808647e-01 1.41879566e-01 1.22078351e-02 1.06610515e+02] [-1.41866912e-01 9.89883916e-01 -1.90082973e-03 -1.73637287e+01] [-1.23540285e-02 1.49569845e-04 9.99923675e-01 -2.30119706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.64, Y:-17.37, Z:-2.30 [[ 9.89519942e-01 1.43850564e-01 1.25419258e-02 1.06641614e+02] [-1.43837335e-01 9.89599413e-01 -1.95516795e-03 -1.73719011e+01] [-1.26927345e-02 1.30680480e-04 9.99919435e-01 -2.30224303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.67, Y:-17.38, Z:-2.30 [[ 9.89344899e-01 1.45060188e-01 1.24182189e-02 1.06674243e+02] [-1.45047288e-01 9.89422826e-01 -1.93796238e-03 -1.73788920e+01] [-1.25679904e-02 1.16084216e-04 9.99921013e-01 -2.30289234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.71, Y:-17.39, Z:-2.30 [[ 9.89162462e-01 1.46310942e-01 1.22772597e-02 1.06706380e+02] [-1.46298402e-01 9.89238646e-01 -1.91821435e-03 -1.73864319e+01] [-1.24257955e-02 1.01282161e-04 9.99922792e-01 -2.30406463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:106.74, Y:-17.40, Z:-2.30 [[ 9.88725773e-01 1.49287388e-01 1.16026549e-02 1.06737773e+02] [-1.49276370e-01 9.88793847e-01 -1.81486863e-03 -1.73953490e+01] [-1.17435708e-02 6.24051854e-05 9.99931040e-01 -2.30426728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:106.77, Y:-17.40, Z:-2.31 [[ 9.88422045e-01 1.51275119e-01 1.17345642e-02 1.06768930e+02] [-1.51263963e-01 9.88491698e-01 -1.83760156e-03 -1.74017250e+01] [-1.18775027e-02 4.13092050e-05 9.99929459e-01 -2.30511124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.80, Y:-17.41, Z:-2.31 [[ 9.87720986e-01 1.55792726e-01 1.16567900e-02 1.06801224e+02] [-1.55782009e-01 9.87789768e-01 -1.82734862e-03 -1.74106463e+01] [-1.17991455e-02 -1.10075887e-05 9.99930388e-01 -2.30582329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.83, Y:-17.42, Z:-2.31 [[ 9.87333928e-01 1.58224910e-01 1.16872535e-02 1.06833182e+02] [-1.58214283e-01 9.87403097e-01 -1.83426888e-03 -1.74178585e+01] [-1.18302573e-02 -3.80545259e-05 9.99930019e-01 -2.30593198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:106.86, Y:-17.42, Z:-2.31 [[ 9.86915442e-01 1.60826509e-01 1.15214994e-02 1.06864497e+02] [-1.60816332e-01 9.86982690e-01 -1.81043603e-03 -1.74240620e+01] [-1.16626866e-02 -6.60980051e-05 9.99931986e-01 -2.30638698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:106.90, Y:-17.43, Z:-2.31 [[ 9.86221238e-01 1.65073190e-01 1.08863007e-02 1.06896601e+02] [-1.65064346e-01 9.86281314e-01 -1.71222831e-03 -1.74299667e+01] [-1.10195979e-02 -1.08304175e-04 9.99939277e-01 -2.30785551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.258623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:106.93, Y:-17.44, Z:-2.31 [[ 9.85920273e-01 1.66849175e-01 1.10710313e-02 1.06929315e+02] [-1.66840118e-01 9.85982422e-01 -1.74321878e-03 -1.74363831e+01] [-1.12066968e-02 -1.28417430e-04 9.99937195e-01 -2.30873353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:106.96, Y:-17.44, Z:-2.31 [[ 9.85554560e-01 1.68999703e-01 1.10140652e-02 1.06960139e+02] [-1.68990848e-01 9.85616091e-01 -1.73653356e-03 -1.74435139e+01] [-1.11491136e-02 -1.49827652e-04 9.99937835e-01 -2.30937088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.318623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:106.99, Y:-17.45, Z:-2.31 [[ 9.85409795e-01 1.69835637e-01 1.11082093e-02 1.06992756e+02] [-1.69826660e-01 9.85472390e-01 -1.75335878e-03 -1.74498911e+01] [-1.12446164e-02 -1.58693177e-04 9.99936765e-01 -2.30997995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.02, Y:-17.46, Z:-2.31 [[ 9.85340061e-01 1.70229621e-01 1.12623218e-02 1.07024382e+02] [-1.70220391e-01 9.85404409e-01 -1.78010069e-03 -1.74558143e+01] [-1.14009674e-02 -1.63072303e-04 9.99934994e-01 -2.31031464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.06, Y:-17.46, Z:-2.31 [[ 9.85390189e-01 1.69898897e-01 1.18549328e-02 1.07055410e+02] [-1.69888617e-01 9.85461485e-01 -1.87622705e-03 -1.74625838e+01] [-1.20013486e-02 -1.65202418e-04 9.99927968e-01 -2.31069297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.09, Y:-17.47, Z:-2.31 [[ 9.85462028e-01 1.69453057e-01 1.22577641e-02 1.07088024e+02] [-1.69442004e-01 9.85538246e-01 -1.94222018e-03 -1.74686082e+01] [-1.24096105e-02 -1.62995889e-04 9.99922985e-01 -2.31110754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.12, Y:-17.48, Z:-2.31 [[ 9.85764233e-01 1.67638556e-01 1.28915196e-02 1.07120184e+02] [-1.67626142e-01 9.85848515e-01 -2.04521992e-03 -1.74757253e+01] [-1.30519432e-02 -1.44851051e-04 9.99914809e-01 -2.31151166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:107.15, Y:-17.48, Z:-2.31 [[ 9.85901667e-01 1.66807214e-01 1.31626939e-02 1.07152162e+02] [-1.66794163e-01 9.85989521e-01 -2.09086774e-03 -1.74826551e+01] [-1.33270500e-02 -1.34070521e-04 9.99911182e-01 -2.31245032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.18, Y:-17.49, Z:-2.31 [[ 9.86052974e-01 1.65913968e-01 1.31182043e-02 1.07183291e+02] [-1.65900891e-01 9.86140224e-01 -2.08640467e-03 -1.74885742e+01] [-1.32825526e-02 -1.19016260e-04 9.99911776e-01 -2.31020026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52862385300001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:107.22, Y:-17.50, Z:-2.31 [[ 9.86360072e-01 1.64012359e-01 1.39195892e-02 1.07215718e+02] [-1.63997409e-01 9.86458279e-01 -2.21648821e-03 -1.74967358e+01] [-1.40946254e-02 -9.65210992e-05 9.99900661e-01 -2.31421308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:107.25, Y:-17.50, Z:-2.31 [[ 9.86626623e-01 1.62396943e-01 1.39692265e-02 1.07247074e+02] [-1.62381684e-01 9.86725508e-01 -2.22725432e-03 -1.75049284e+01] [-1.41454914e-02 -7.08781191e-05 9.99899945e-01 -2.31494258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:107.28, Y:-17.51, Z:-2.32 [[ 9.86700832e-01 1.61980487e-01 1.35568873e-02 1.07279718e+02] [-1.61966044e-01 9.86793959e-01 -2.16384609e-03 -1.75113596e+01] [-1.37283553e-02 -6.06866644e-05 9.99905760e-01 -2.31564517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.618623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:107.31, Y:-17.52, Z:-2.32 [[ 9.86760330e-01 1.61647362e-01 1.31977767e-02 1.07311540e+02] [-1.61633611e-01 9.86848584e-01 -2.10912259e-03 -1.75175692e+01] [-1.33651414e-02 -5.20058063e-05 9.99910681e-01 -2.31612579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.34, Y:-17.52, Z:-2.32 [[ 9.86804039e-01 1.61373007e-01 1.32869111e-02 1.07343929e+02] [-1.61359012e-01 9.86893485e-01 -2.12577118e-03 -1.75246255e+01] [-1.34558081e-02 -4.62432570e-05 9.99909465e-01 -2.31710583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.678623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:107.38, Y:-17.53, Z:-2.32 [[ 9.86799839e-01 1.61422809e-01 1.29905806e-02 1.07375595e+02] [-1.61409402e-01 9.86885340e-01 -2.08091318e-03 -1.75305951e+01] [-1.31561204e-02 -4.33570528e-05 9.99913454e-01 -2.31779573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:107.41, Y:-17.54, Z:-2.32 [[ 9.86747070e-01 1.61774139e-01 1.26232874e-02 1.07406401e+02] [-1.61761479e-01 9.86827810e-01 -2.02438974e-03 -1.75377807e+01] [-1.27845050e-02 -4.44009861e-05 9.99918274e-01 -2.31866842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.738623853 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:107.44, Y:-17.54, Z:-2.32 [[ 9.86645840e-01 1.62351884e-01 1.31092043e-02 1.07439252e+02] [-1.62338253e-01 9.86732924e-01 -2.10441674e-03 -1.75437161e+01] [-1.32769395e-02 -5.18113069e-05 9.99911856e-01 -2.31903710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:107.47, Y:-17.55, Z:-2.32 [[ 9.86501491e-01 1.63215900e-01 1.32430770e-02 1.07470637e+02] [-1.63202029e-01 9.86590374e-01 -2.12876348e-03 -1.75489797e+01] [-1.34129404e-02 -6.12686896e-05 9.99910041e-01 -2.31954153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:107.50, Y:-17.55, Z:-2.32 [[ 9.86162353e-01 1.65265960e-01 1.30757447e-02 1.07501971e+02] [-1.65252579e-01 9.86249033e-01 -2.10473942e-03 -1.75541382e+01] [-1.32437823e-02 -8.51857524e-05 9.99912294e-01 -2.32019098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:-17.56, Z:-2.32 [[ 9.85898983e-01 1.66813423e-01 1.32844380e-02 1.07534209e+02] [-1.66799735e-01 9.85988474e-01 -2.13959121e-03 -1.75595550e+01] [-1.34552153e-02 -1.06419952e-04 9.99909469e-01 -2.32111394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:107.57, Y:-17.56, Z:-2.32 [[ 9.85331236e-01 1.70142772e-01 1.31830319e-02 1.07567187e+02] [-1.70129557e-01 9.85419411e-01 -2.12574240e-03 -1.75649441e+01] [-1.33524953e-02 -1.48262992e-04 9.99910840e-01 -2.32142577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88862385300001 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:107.60, Y:-17.57, Z:-2.32 [[ 9.84998339e-01 1.72040789e-01 1.34253498e-02 1.07598708e+02] [-1.72027217e-01 9.85089812e-01 -2.16795586e-03 -1.75701905e+01] [-1.35981521e-02 -1.74092637e-04 9.99907526e-01 -2.32188321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:107.63, Y:-17.57, Z:-2.32 [[ 9.84334609e-01 1.75862239e-01 1.25638849e-02 1.07631850e+02] [-1.75850652e-01 9.84414764e-01 -2.02977914e-03 -1.75743074e+01] [-1.27250353e-02 -2.11385496e-04 9.99919011e-01 -2.32219548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94862385300002 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:107.66, Y:-17.58, Z:-2.32 [[ 9.84013573e-01 1.77666971e-01 1.23180710e-02 1.07663248e+02] [-1.77655944e-01 9.84090644e-01 -1.99248383e-03 -1.75778271e+01] [-1.24760970e-02 -2.27747409e-04 9.99922145e-01 -2.32349370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.978623853 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:107.70, Y:-17.58, Z:-2.32 [[ 9.83669291e-01 1.79601444e-01 1.17493090e-02 1.07697024e+02] [-1.79591527e-01 9.83739429e-01 -1.90237830e-03 -1.75787980e+01] [-1.18999284e-02 -2.38765232e-04 9.99929165e-01 -2.31801419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:107.73, Y:-17.58, Z:-2.33 [[ 9.83590613e-01 1.79981652e-01 1.24944067e-02 1.07728342e+02] [-1.79970434e-01 9.83669934e-01 -2.02574399e-03 -1.75840104e+01] [-1.26549690e-02 -2.56121025e-04 9.99919890e-01 -2.32514491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.038623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:107.76, Y:-17.59, Z:-2.33 [[ 9.83624111e-01 1.79806464e-01 1.23791486e-02 1.07761263e+02] [-1.79795411e-01 9.83701974e-01 -2.00916143e-03 -1.75888376e+01] [-1.25386532e-02 -2.49454493e-04 9.99921357e-01 -2.32584779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:107.79, Y:-17.59, Z:-2.33 [[ 9.83943752e-01 1.78067489e-01 1.21104230e-02 1.07794159e+02] [-1.78056752e-01 9.84018252e-01 -1.96773923e-03 -1.75938366e+01] [-1.22672677e-02 -2.20197865e-04 9.99924730e-01 -2.32650785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.098623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:107.83, Y:-17.60, Z:-2.33 [[ 9.84145794e-01 1.76929860e-01 1.23644817e-02 1.07826363e+02] [-1.76918549e-01 9.84223441e-01 -2.01138403e-03 -1.75985020e+01] [-1.25252866e-02 -2.08011019e-04 9.99921534e-01 -2.32714785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.86, Y:-17.60, Z:-2.33 [[ 9.84719744e-01 1.73682580e-01 1.27038466e-02 1.07858957e+02] [-1.73670336e-01 9.84801672e-01 -2.06913193e-03 -1.76015781e+01] [-1.28701416e-02 -1.68766258e-04 9.99917162e-01 -2.32813455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:107.89, Y:-17.61, Z:-2.33 [[ 9.85021207e-01 1.71977030e-01 1.25348652e-02 1.07891557e+02] [-1.71964942e-01 9.85100950e-01 -2.04400263e-03 -1.76061625e+01] [-1.26996291e-02 -1.42171431e-04 9.99919346e-01 -2.32828181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18862385300001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:107.92, Y:-17.61, Z:-2.33 [[ 9.85528123e-01 1.68959457e-01 1.36755903e-02 1.07924843e+02] [-1.68944735e-01 9.85622996e-01 -2.23301732e-03 -1.76100843e+01] [-1.38562657e-02 -1.09717617e-04 9.99903991e-01 -2.32845220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21862385300001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:107.96, Y:-17.62, Z:-2.33 [[ 9.85513666e-01 1.69043802e-01 1.36750590e-02 1.07957873e+02] [-1.69029044e-01 9.85608534e-01 -2.23626568e-03 -1.76156209e+01] [-1.38562817e-02 -1.07611767e-04 9.99903991e-01 -2.32909897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:107.99, Y:-17.62, Z:-2.33 [[ 9.85717201e-01 1.67847622e-01 1.37395635e-02 1.07989810e+02] [-1.67832599e-01 9.85812948e-01 -2.24750382e-03 -1.76202994e+01] [-1.39218777e-02 -9.05434700e-05 9.99903082e-01 -2.32989062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27862385300001 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:108.02, Y:-17.63, Z:-2.33 [[ 9.85961344e-01 1.66410721e-01 1.37003684e-02 1.08022022e+02] [-1.66395602e-01 9.86056523e-01 -2.24416724e-03 -1.76254752e+01] [-1.38827911e-02 -6.70188917e-05 9.99903627e-01 -2.33065039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:108.05, Y:-17.63, Z:-2.33 [[ 9.86471544e-01 1.63364077e-01 1.36408080e-02 1.08053875e+02] [-1.63348789e-01 9.86565851e-01 -2.23506604e-03 -1.76301170e+01] [-1.38226849e-02 -2.33804156e-05 9.99904462e-01 -2.33105755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.338623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:108.09, Y:-17.64, Z:-2.33 [[ 9.86700149e-01 1.61999025e-01 1.33840379e-02 1.08086761e+02] [-1.61984148e-01 9.86790918e-01 -2.19540603e-03 -1.76351584e+01] [-1.35629006e-02 -1.79452011e-06 9.99908020e-01 -2.33154605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:108.12, Y:-17.64, Z:-2.33 [[ 9.87173087e-01 1.59120074e-01 1.30421642e-02 1.08119107e+02] [-1.59105663e-01 9.87259237e-01 -2.14181007e-03 -1.76397305e+01] [-1.32168021e-02 3.92550712e-05 9.99912653e-01 -2.33261985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.398623853 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:108.15, Y:-17.64, Z:-2.33 [[ 9.87400498e-01 1.57701182e-01 1.30611868e-02 1.08151854e+02] [-1.57686570e-01 9.87486878e-01 -2.14753462e-03 -1.76440868e+01] [-1.32364193e-02 6.09030051e-05 9.99912393e-01 -2.32698851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:108.18, Y:-17.65, Z:-2.33 [[ 9.87592912e-01 1.56475702e-01 1.32512416e-02 1.08182778e+02] [-1.56460515e-01 9.87681805e-01 -2.18157107e-03 -1.76504110e+01] [-1.34293731e-02 8.12080349e-05 9.99909819e-01 -2.33390682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.458623853 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:108.22, Y:-17.65, Z:-2.33 [[ 9.88091425e-01 1.53318091e-01 1.29961450e-02 1.08215244e+02] [-1.53303180e-01 9.88176881e-01 -2.14184744e-03 -1.76548043e+01] [-1.31708740e-02 1.23990730e-04 9.99913253e-01 -2.32822036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:108.25, Y:-17.66, Z:-2.34 [[ 9.88249447e-01 1.52260978e-01 1.34024252e-02 1.08246616e+02] [-1.52244983e-01 9.88340313e-01 -2.21171188e-03 -1.76618728e+01] [-1.35829145e-02 1.45271045e-04 9.99907737e-01 -2.33519331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:108.28, Y:-17.67, Z:-2.34 [[ 9.88489217e-01 1.50659384e-01 1.38136639e-02 1.08277847e+02] [-1.50642198e-01 9.88585717e-01 -2.28231750e-03 -1.76687255e+01] [-1.39998434e-02 1.75125548e-04 9.99901982e-01 -2.33589620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54862385300001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:108.31, Y:-17.68, Z:-2.34 [[ 9.88506683e-01 1.50556317e-01 1.36869625e-02 1.08310087e+02] [-1.50539400e-01 9.88601418e-01 -2.26387860e-03 -1.76753477e+01] [-1.38717918e-02 1.77432001e-04 9.99903766e-01 -2.33590616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57862385300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:108.34, Y:-17.68, Z:-2.34 [[ 9.88423956e-01 1.51118603e-01 1.34629671e-02 1.08341340e+02] [-1.51102251e-01 9.88515624e-01 -2.22950361e-03 -1.76824923e+01] [-1.36452728e-02 1.69410138e-04 9.99906885e-01 -2.33650619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:108.37, Y:-17.69, Z:-2.34 [[ 9.88318581e-01 1.51782635e-01 1.37264236e-02 1.08373031e+02] [-1.51765664e-01 9.88413883e-01 -2.27574272e-03 -1.76881624e+01] [-1.39128059e-02 1.65959032e-04 9.99903198e-01 -2.33706128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:108.40, Y:-17.69, Z:-2.34 [[ 9.88123907e-01 1.53046185e-01 1.37116406e-02 1.08404983e+02] [-1.53029338e-01 9.88219026e-01 -2.27573343e-03 -1.76943484e+01] [-1.38983964e-02 1.50423314e-04 9.99903401e-01 -2.33778373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66862385300001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:108.44, Y:-17.70, Z:-2.34 [[ 9.88020670e-01 1.53700450e-01 1.38320945e-02 1.08437110e+02] [-1.53683333e-01 9.88117478e-01 -2.29841755e-03 -1.77006683e+01] [-1.40210022e-02 1.45121668e-04 9.99901690e-01 -2.33850390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69862385300002 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:108.47, Y:-17.71, Z:-2.34 [[ 9.87974924e-01 1.54006751e-01 1.36919436e-02 1.08467842e+02] [-1.53989966e-01 9.88069785e-01 -2.27814921e-03 -1.77088609e+01] [-1.38794461e-02 1.42332366e-04 9.99903666e-01 -2.33949128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:108.50, Y:-17.72, Z:-2.34 [[ 9.87966567e-01 1.54028271e-01 1.40483110e-02 1.08500542e+02] [-1.54010584e-01 9.88066430e-01 -2.33879196e-03 -1.77163146e+01] [-1.42409046e-02 1.47059690e-04 9.99898582e-01 -2.34021143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.758623853 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:108.53, Y:-17.72, Z:-2.34 [[ 9.87978094e-01 1.53941521e-01 1.41877853e-02 1.08531947e+02] [-1.53923429e-01 9.88079949e-01 -2.36501594e-03 -1.77231405e+01] [-1.43827403e-02 1.52751388e-04 9.99896551e-01 -2.34064631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:108.56, Y:-17.73, Z:-2.34 [[ 9.88009906e-01 1.53719403e-01 1.43795453e-02 1.08564324e+02] [-1.53700755e-01 9.88114527e-01 -2.39970419e-03 -1.77316567e+01] [-1.45775187e-02 1.60784535e-04 9.99893729e-01 -2.34165208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.818623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:108.60, Y:-17.74, Z:-2.34 [[ 9.87976149e-01 1.53961074e-01 1.41108408e-02 1.08596607e+02] [-1.53943102e-01 9.88076901e-01 -2.35763971e-03 -1.77393369e+01] [-1.43055806e-02 1.57025202e-04 9.99897658e-01 -2.34194588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848623853 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:108.63, Y:-17.75, Z:-2.34 [[ 9.87802701e-01 1.55100452e-01 1.37721765e-02 1.08628546e+02] [-1.55083405e-01 9.87898694e-01 -2.30373977e-03 -1.77487432e+01] [-1.39628262e-02 1.39804340e-04 9.99902505e-01 -2.34021320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87862385300001 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:108.66, Y:-17.76, Z:-2.34 [[ 9.87675988e-01 1.55913954e-01 1.36741152e-02 1.08659575e+02] [-1.55897183e-01 9.87770632e-01 -2.29047722e-03 -1.77567042e+01] [-1.38640068e-02 1.30493306e-04 9.99903882e-01 -2.34386132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:108.69, Y:-17.77, Z:-2.34 [[ 9.87347045e-01 1.58064090e-01 1.27104591e-02 1.08690309e+02] [-1.58049765e-01 9.87428850e-01 -2.13010817e-03 -1.77661705e+01] [-1.28873676e-02 9.42709440e-05 9.99916950e-01 -2.34485109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93862385300001 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:108.72, Y:-17.77, Z:-2.34 [[ 9.87102741e-01 1.59632016e-01 1.20747120e-02 1.08722473e+02] [-1.59619182e-01 9.87176587e-01 -2.02550727e-03 -1.77722339e+01] [-1.22432088e-02 7.20281226e-05 9.99925047e-01 -2.33905877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96862385300001 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:108.75, Y:-17.78, Z:-2.34 [[ 9.86626710e-01 1.62547479e-01 1.20852188e-02 1.08753273e+02] [-1.62534803e-01 9.86700722e-01 -2.03028129e-03 -1.77796583e+01] [-1.22545112e-02 3.88610814e-05 9.99924910e-01 -2.33918534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99862385300001 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:108.78, Y:-17.79, Z:-2.35 [[ 9.86309601e-01 1.64405392e-01 1.28155012e-02 1.08784456e+02] [-1.64391277e-01 9.86392856e-01 -2.15440618e-03 -1.77880101e+01] [-1.29953148e-02 1.81548959e-05 9.99915557e-01 -2.34630386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02862385300001 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:108.82, Y:-17.80, Z:-2.35 [[ 9.85743197e-01 1.67732267e-01 1.32753676e-02 1.08815929e+02] [-1.67717389e-01 9.85832585e-01 -2.23417463e-03 -1.77977161e+01] [-1.34620331e-02 -2.41875369e-05 9.99909382e-01 -2.34681561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05862385300001 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:108.85, Y:-17.81, Z:-2.35 [[ 9.85411488e-01 1.69688439e-01 1.30396678e-02 1.08847069e+02] [-1.69674222e-01 9.85497758e-01 -2.19704729e-03 -1.78051228e+01] [-1.32233769e-02 -4.74998526e-05 9.99912566e-01 -2.34753938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:108.88, Y:-17.81, Z:-2.35 [[ 9.84771101e-01 1.73392845e-01 1.26807102e-02 1.08879695e+02] [-1.73379680e-01 9.84852737e-01 -2.13867071e-03 -1.78129003e+01] [-1.28594623e-02 -9.24763672e-05 9.99917309e-01 -2.34818711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.118623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:108.91, Y:-17.82, Z:-2.35 [[ 9.84393869e-01 1.75491116e-01 1.30987919e-02 1.08912186e+02] [-1.75477219e-01 9.84481007e-01 -2.21182058e-03 -1.78192059e+01] [-1.32836667e-02 -1.21236942e-04 9.99911761e-01 -2.34890338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148623853 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:108.94, Y:-17.83, Z:-2.35 [[ 9.83630862e-01 1.79703423e-01 1.33044078e-02 1.08944583e+02] [-1.79689437e-01 9.83720818e-01 -2.24912424e-03 -1.78257812e+01] [-1.34919982e-02 -1.78353528e-04 9.99908963e-01 -2.34919402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.178623853 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:108.98, Y:-17.83, Z:-2.35 [[ 9.83240808e-01 1.81808770e-01 1.35308449e-02 1.08976893e+02] [-1.81794466e-01 9.83333884e-01 -2.29009687e-03 -1.78312885e+01] [-1.37216980e-02 -2.08116024e-04 9.99905831e-01 -2.35010187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:109.01, Y:-17.84, Z:-2.35 [[ 9.82831039e-01 1.83996157e-01 1.37318379e-02 1.09009310e+02] [-1.83981600e-01 9.82926934e-01 -2.32684011e-03 -1.78368930e+01] [-1.39255229e-02 -2.39514825e-04 9.99903007e-01 -2.35053813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.238623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:109.04, Y:-17.84, Z:-2.35 [[ 9.82135213e-01 1.87668092e-01 1.38242854e-02 1.09040657e+02] [-1.87653663e-01 9.82232459e-01 -2.34526515e-03 -1.78416212e+01] [-1.40187933e-02 -2.90810313e-04 9.99901690e-01 -2.35063134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26862385300001 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:109.07, Y:-17.85, Z:-2.35 [[ 9.81776205e-01 1.89535148e-01 1.38531785e-02 1.09073385e+02] [-1.89520809e-01 9.81873886e-01 -2.35261807e-03 -1.78467220e+01] [-1.40479781e-02 -3.15721164e-04 9.99901272e-01 -2.35199639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:109.11, Y:-17.85, Z:-2.35 [[ 9.81188626e-01 1.92554420e-01 1.38446948e-02 1.09105552e+02] [-1.92540363e-01 9.81286232e-01 -2.35378437e-03 -1.78513512e+01] [-1.40388400e-02 -3.56156112e-04 9.99901387e-01 -2.35253316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32862385300001 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:109.14, Y:-17.86, Z:-2.35 [[ 9.80972156e-01 1.93668920e-01 1.36374002e-02 1.09137190e+02] [-1.93655351e-01 9.81066877e-01 -2.32119183e-03 -1.78565373e+01] [-1.38287444e-02 -3.63930983e-04 9.99904312e-01 -2.35283723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35862385300001 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:109.17, Y:-17.86, Z:-2.35 [[ 9.80652247e-01 1.95323014e-01 1.30419078e-02 1.09169546e+02] [-1.95310722e-01 9.80738897e-01 -2.22205224e-03 -1.78596787e+01] [-1.32247242e-02 -3.68163898e-04 9.99912482e-01 -2.35369164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38862385300001 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:109.20, Y:-17.86, Z:-2.35 [[ 9.80558765e-01 1.95803990e-01 1.28571224e-02 1.09201445e+02] [-1.95792055e-01 9.80642984e-01 -2.19281946e-03 -1.78635674e+01] [-1.30376096e-02 -3.67134073e-04 9.99914939e-01 -2.35490392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41862385300001 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:109.23, Y:-17.87, Z:-2.36 [[ 9.80519759e-01 1.96003810e-01 1.27870836e-02 1.09234321e+02] [-1.95991994e-01 9.80603066e-01 -2.18300558e-03 -1.78682050e+01] [-1.29669308e-02 -3.65685914e-04 9.99915859e-01 -2.35536754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44862385300002 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:109.27, Y:-17.87, Z:-2.36 [[ 9.80712083e-01 1.95022665e-01 1.30372646e-02 1.09267263e+02] [-1.95010263e-01 9.80798671e-01 -2.22816839e-03 -1.78716024e+01] [-1.32214751e-02 -3.57208728e-04 9.99912529e-01 -2.35565019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.478623853 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:109.30, Y:-17.88, Z:-2.36 [[ 9.80914873e-01 1.93989993e-01 1.31869286e-02 1.09298815e+02] [-1.93977178e-01 9.81003447e-01 -2.25630181e-03 -1.78755048e+01] [-1.33741224e-02 -3.44723180e-04 9.99910503e-01 -2.35616039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508623853 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:109.33, Y:-17.88, Z:-2.36 [[ 9.81537324e-01 1.90813151e-01 1.32220403e-02 1.09330483e+02] [-1.90799948e-01 9.81626330e-01 -2.26461392e-03 -1.78789823e+01] [-1.34112210e-02 -2.99961504e-04 9.99910021e-01 -2.35730661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.538623853 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:109.36, Y:-17.88, Z:-2.36 [[ 9.81880113e-01 1.89049427e-01 1.31056128e-02 1.09362265e+02] [-1.89036264e-01 9.81967536e-01 -2.24721650e-03 -1.78843060e+01] [-1.32941213e-02 -2.70938902e-04 9.99911593e-01 -2.35808302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:109.40, Y:-17.89, Z:-2.36 [[ 9.82791960e-01 1.84275532e-01 1.27472577e-02 1.09395440e+02] [-1.84262666e-01 9.82874605e-01 -2.18667879e-03 -1.78887051e+01] [-1.29319073e-02 -1.99793350e-04 9.99916359e-01 -2.35863751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.598623853 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:109.43, Y:-17.89, Z:-2.36 [[ 9.83236308e-01 1.81925018e-01 1.22331627e-02 1.09428033e+02] [-1.81912960e-01 9.83312393e-01 -2.10066106e-03 -1.78929351e+01] [-1.24111833e-02 -1.59924610e-04 9.99922966e-01 -2.35557882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62862385300001 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:109.46, Y:-17.90, Z:-2.36 [[ 9.83672958e-01 1.79563468e-01 1.20196513e-02 1.09460305e+02] [-1.79551623e-01 9.83746383e-01 -2.06623202e-03 -1.78994477e+01] [-1.21953083e-02 -1.25651333e-04 9.99925627e-01 -2.36111616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:109.49, Y:-17.90, Z:-2.36 [[ 9.84523067e-01 1.74913667e-01 1.09333842e-02 1.09492444e+02] [-1.74903561e-01 9.84583773e-01 -1.88124286e-03 -1.79044541e+01] [-1.10938878e-02 -6.01608497e-05 9.99938459e-01 -2.36161954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68862385300001 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:109.52, Y:-17.91, Z:-2.36 [[ 9.85182477e-01 1.71148593e-01 1.11196039e-02 1.09524600e+02] [-1.71137875e-01 9.85245228e-01 -1.91549877e-03 -1.79091824e+01] [-1.12833716e-02 -1.58695558e-05 9.99936341e-01 -2.36237241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71862385300001 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:109.56, Y:-17.91, Z:-2.36 [[ 9.85476561e-01 1.69443817e-01 1.11687318e-02 1.09556733e+02] [-1.69432869e-01 9.85539848e-01 -1.92614148e-03 -1.79145804e+01] [-1.13336030e-02 5.81701096e-06 9.99935773e-01 -2.36278840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74862385300001 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:109.59, Y:-17.92, Z:-2.36 [[ 9.86159923e-01 1.65435978e-01 1.09335486e-02 1.09589324e+02] [-1.65425218e-01 9.86220530e-01 -1.88761907e-03 -1.79204348e+01] [-1.10951702e-02 5.28096141e-05 9.99938445e-01 -2.35935537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:109.62, Y:-17.93, Z:-2.36 [[ 9.86507750e-01 1.63333662e-01 1.11612360e-02 1.09621283e+02] [-1.63322288e-01 9.86570884e-01 -1.92917992e-03 -1.79268843e+01] [-1.13264505e-02 8.02723483e-05 9.99935850e-01 -2.36330923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:109.65, Y:-17.93, Z:-2.36 [[ 9.87167789e-01 1.59331778e-01 1.06367251e-02 1.09653756e+02] [-1.59321196e-01 9.87225086e-01 -1.84038109e-03 -1.79330560e+01] [-1.07940730e-02 1.22109169e-04 9.99941735e-01 -2.36442354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.838623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:109.69, Y:-17.94, Z:-2.37 [[ 9.87417949e-01 1.57762096e-01 1.08127445e-02 1.09686224e+02] [-1.57751043e-01 9.87477139e-01 -1.87294917e-03 -1.79391851e+01] [-1.09728184e-02 1.43661905e-04 9.99939786e-01 -2.36526159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:109.72, Y:-17.95, Z:-2.37 [[ 9.87737247e-01 1.55709506e-01 1.13877790e-02 1.09718000e+02] [-1.55697080e-01 9.87802874e-01 -1.97516300e-03 -1.79459440e+01] [-1.15564324e-02 1.77898129e-04 9.99933206e-01 -2.36565680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.898623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:109.75, Y:-17.95, Z:-2.37 [[ 9.87727777e-01 1.55782408e-01 1.12106770e-02 1.09750314e+02] [-1.55770347e-01 9.87791380e-01 -1.94649953e-03 -1.79527349e+01] [-1.13770405e-02 1.76320614e-04 9.99935264e-01 -2.36607957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:109.78, Y:-17.96, Z:-2.37 [[ 9.87637035e-01 1.56367271e-01 1.10618583e-02 1.09782341e+02] [-1.56355541e-01 9.87698966e-01 -1.92268558e-03 -1.79594617e+01] [-1.12264311e-02 1.69332640e-04 9.99936967e-01 -2.36672024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.958623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:109.81, Y:-17.97, Z:-2.37 [[ 9.87279334e-01 1.58635528e-01 1.06904952e-02 1.09814257e+02] [-1.58624684e-01 9.87337202e-01 -1.86009425e-03 -1.79665956e+01] [-1.08502006e-02 1.40656191e-04 9.99941125e-01 -2.36701584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:109.85, Y:-17.97, Z:-2.36 [[ 9.87025267e-01 1.60238520e-01 1.02342529e-02 1.09846240e+02] [-1.60228648e-01 9.87078316e-01 -1.78268578e-03 -1.79719981e+01] [-1.03876641e-02 1.19735392e-04 9.99946040e-01 -2.36214967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01862385300001 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:109.88, Y:-17.98, Z:-2.37 [[ 9.86528230e-01 1.63257154e-01 1.04476664e-02 1.09878281e+02] [-1.63247014e-01 9.86583546e-01 -1.82179522e-03 -1.79799844e+01] [-1.06049169e-02 9.17020635e-05 9.99943762e-01 -2.36768667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:109.91, Y:-17.99, Z:-2.37 [[ 9.86230324e-01 1.65036893e-01 1.06099683e-02 1.09910616e+02] [-1.65026517e-01 9.86287391e-01 -1.85217414e-03 -1.79865156e+01] [-1.07701550e-02 7.57441791e-05 9.99941997e-01 -2.36829216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:109.94, Y:-17.99, Z:-2.37 [[ 9.85668455e-01 1.68342945e-01 1.08788668e-02 1.09942502e+02] [-1.68332213e-01 9.85728487e-01 -1.90135316e-03 -1.79929677e+01] [-1.10436883e-02 4.28401122e-05 9.99939016e-01 -2.36863902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10862385300001 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:109.98, Y:-18.00, Z:-2.37 [[ 9.85646468e-01 1.68471658e-01 1.08784267e-02 1.09975456e+02] [-1.68460906e-01 9.85706497e-01 -1.90386681e-03 -1.79989046e+01] [-1.10436834e-02 4.39499798e-05 9.99939016e-01 -2.36928578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:110.01, Y:-18.01, Z:-2.37 [[ 9.85370767e-01 1.70065311e-01 1.10562937e-02 1.10008110e+02] [-1.70054293e-01 9.85432793e-01 -1.93605222e-03 -1.80051965e+01] [-1.12244897e-02 2.75590464e-05 9.99937003e-01 -2.36952463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16862385300001 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:110.04, Y:-18.01, Z:-2.37 [[ 9.85102933e-01 1.71578666e-01 1.15313460e-02 1.10039100e+02] [-1.71566755e-01 9.85170422e-01 -2.02173367e-03 -1.80117696e+01] [-1.17072274e-02 1.32201492e-05 9.99931468e-01 -2.37027516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19862385300002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:110.07, Y:-18.02, Z:-2.37 [[ 9.84662910e-01 1.74064524e-01 1.18530494e-02 1.10070533e+02] [-1.74052087e-01 9.84734249e-01 -2.08081507e-03 -1.80190466e+01] [-1.20342997e-02 -1.41465568e-05 9.99927585e-01 -2.37057412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.228623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:110.10, Y:-18.02, Z:-2.37 [[ 9.84402930e-01 1.75537671e-01 1.17216674e-02 1.10103520e+02] [-1.75525602e-01 9.84472714e-01 -2.05861652e-03 -1.80245515e+01] [-1.19010264e-02 -3.09445878e-05 9.99929180e-01 -2.36594379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.258623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:110.14, Y:-18.03, Z:-2.37 [[ 9.83986086e-01 1.77835423e-01 1.20807803e-02 1.10135903e+02] [-1.77822747e-01 9.84060241e-01 -2.12409487e-03 -1.80317142e+01] [-1.22659549e-02 -5.81577352e-05 9.99924769e-01 -2.37196318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:110.17, Y:-18.04, Z:-2.37 [[ 9.83737805e-01 1.79197987e-01 1.21660024e-02 1.10168090e+02] [-1.79185207e-01 9.83813029e-01 -2.14141127e-03 -1.80378474e+01] [-1.23528083e-02 -7.33804393e-05 9.99923698e-01 -2.37283132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.318623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:110.20, Y:-18.04, Z:-2.37 [[ 9.83356334e-01 1.81330303e-01 1.13860743e-02 1.10199285e+02] [-1.81319228e-01 9.83422246e-01 -2.00613189e-03 -1.80443623e+01] [-1.15610913e-02 -9.17717090e-05 9.99933164e-01 -2.37382005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:110.23, Y:-18.05, Z:-2.37 [[ 9.82976681e-01 1.83410754e-01 1.08323811e-02 1.10230853e+02] [-1.83400838e-01 9.83036359e-01 -1.91031086e-03 -1.80499753e+01] [-1.09989960e-02 -1.08876730e-04 9.99939503e-01 -2.37484323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37862385300001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:110.26, Y:-18.06, Z:-2.38 [[ 9.82779187e-01 1.84481895e-01 1.05593202e-02 1.10263652e+02] [-1.84472516e-01 9.82835905e-01 -1.86381717e-03 -1.80554516e+01] [-1.07219196e-02 -1.16183652e-04 9.99942512e-01 -2.37541783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:110.30, Y:-18.06, Z:-2.38 [[ 9.82641995e-01 1.85245547e-01 9.93966239e-03 1.10296178e+02] [-1.85237260e-01 9.82692258e-01 -1.75599376e-03 -1.80613785e+01] [-1.00929193e-02 -1.15682615e-04 9.99949059e-01 -2.37628098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:110.33, Y:-18.07, Z:-2.38 [[ 9.82576140e-01 1.85609352e-01 9.65908733e-03 1.10327318e+02] [-1.85601520e-01 9.82623608e-01 -1.70884696e-03 -1.80674652e+01] [-9.80842522e-03 -1.13669038e-04 9.99951890e-01 -2.37721086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:110.36, Y:-18.07, Z:-2.38 [[ 9.82659013e-01 1.85144363e-01 1.01405120e-02 1.10359531e+02] [-1.85135699e-01 9.82711327e-01 -1.79470314e-03 -1.80736555e+01] [-1.02974752e-02 -1.13789571e-04 9.99946973e-01 -2.37781084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49862385300001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:110.39, Y:-18.08, Z:-2.38 [[ 9.82785217e-01 1.84432035e-01 1.08647294e-02 1.10392109e+02] [-1.84422022e-01 9.82845263e-01 -1.92512138e-03 -1.80799939e+01] [-1.10334019e-02 -1.11714527e-04 9.99939124e-01 -2.37816579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52862385300001 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:110.42, Y:-18.08, Z:-2.37 [[ 9.82742251e-01 1.84687035e-01 1.04100026e-02 1.10424301e+02] [-1.84677834e-01 9.82797379e-01 -1.84662815e-03 -1.80847663e+01] [-1.05719716e-02 -1.07737236e-04 9.99944109e-01 -2.37346551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55862385300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:110.46, Y:-18.09, Z:-2.38 [[ 9.82753093e-01 1.84623385e-01 1.05149298e-02 1.10456127e+02] [-1.84613966e-01 9.82809338e-01 -1.86784263e-03 -1.80907385e+01] [-1.06790187e-02 -1.05574777e-04 9.99942972e-01 -2.37954758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:110.49, Y:-18.10, Z:-2.38 [[ 9.82742166e-01 1.84703401e-01 1.01237283e-02 1.10489115e+02] [-1.84694669e-01 9.82794304e-01 -1.79886605e-03 -1.80963214e+01] [-1.02817992e-02 -1.01977121e-04 9.99947136e-01 -2.37989109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.618623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:110.52, Y:-18.10, Z:-2.38 [[ 9.82688858e-01 1.84956209e-01 1.06681273e-02 1.10521537e+02] [-1.84946503e-01 9.82746757e-01 -1.89786051e-03 -1.81026960e+01] [-1.08350886e-02 -1.08026463e-04 9.99941293e-01 -2.38077518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:110.55, Y:-18.11, Z:-2.38 [[ 9.82530756e-01 1.85741775e-01 1.15458162e-02 1.10553157e+02] [-1.85730430e-01 9.82598584e-01 -2.05665199e-03 -1.81082659e+01] [-1.17269089e-02 -1.23685575e-04 9.99931230e-01 -2.38072391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.678623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:110.59, Y:-18.11, Z:-2.38 [[ 9.82420124e-01 1.86290055e-01 1.21125735e-02 1.10585302e+02] [-1.86277582e-01 9.82494782e-01 -2.15989300e-03 -1.81131557e+01] [-1.23029069e-02 -1.34378557e-04 9.99924307e-01 -2.38049675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:110.62, Y:-18.12, Z:-2.38 [[ 9.82127380e-01 1.87779627e-01 1.28304633e-02 1.10618443e+02] [-1.87765724e-01 9.82211172e-01 -2.29055119e-03 -1.81165917e+01] [-1.30323432e-02 -1.59508198e-04 9.99915063e-01 -2.38091458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.738623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:110.65, Y:-18.12, Z:-2.38 [[ 9.81974610e-01 1.88571507e-01 1.29093689e-02 1.10649533e+02] [-1.88557466e-01 9.82059447e-01 -2.30734525e-03 -1.81218331e+01] [-1.31128672e-02 -1.68403425e-04 9.99914008e-01 -2.38152879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76862385300001 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:110.68, Y:-18.13, Z:-2.38 [[ 9.81845072e-01 1.89224184e-01 1.32084311e-02 1.10682257e+02] [-1.89209510e-01 9.81933896e-01 -2.36329684e-03 -1.81272209e+01] [-1.34169991e-02 -1.78769402e-04 9.99909972e-01 -2.38224247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79862385300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:110.71, Y:-18.13, Z:-2.38 [[ 9.81741314e-01 1.89728249e-01 1.36814953e-02 1.10714765e+02] [-1.89712509e-01 9.81836624e-01 -2.45119329e-03 -1.81297760e+01] [-1.38980537e-02 -1.89113073e-04 9.99903400e-01 -2.38293230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.75, Y:-18.13, Z:-2.38 [[ 9.81771581e-01 1.89593722e-01 1.33710174e-02 1.10747797e+02] [-1.89578660e-01 9.81862611e-01 -2.39675649e-03 -1.81320881e+01] [-1.35829120e-02 -1.81792143e-04 9.99907731e-01 -2.38337206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85862385300001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:110.78, Y:-18.14, Z:-2.38 [[ 9.81851009e-01 1.89176633e-01 1.34460732e-02 1.10780196e+02] [-1.89161325e-01 9.81943059e-01 -2.41284298e-03 -1.81363862e+01] [-1.36597318e-02 -1.74424713e-04 9.99906686e-01 -2.38427317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:110.81, Y:-18.14, Z:-2.39 [[ 9.81890885e-01 1.88987720e-01 1.31883058e-02 1.10811677e+02] [-1.88972941e-01 9.81979437e-01 -2.36927248e-03 -1.81412909e+01] [-1.33984085e-02 -1.65865887e-04 9.99910224e-01 -2.38525663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.84, Y:-18.15, Z:-2.39 [[ 9.82262784e-01 1.87105499e-01 1.23026901e-02 1.10843999e+02] [-1.87092465e-01 9.82339817e-01 -2.21222274e-03 -1.81460562e+01] [-1.24993414e-02 -1.28756560e-04 9.99921872e-01 -2.38560056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94862385300002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:110.88, Y:-18.15, Z:-2.39 [[ 9.82452810e-01 1.86098594e-01 1.24012216e-02 1.10875074e+02] [-1.86085238e-01 9.82531068e-01 -2.23248694e-03 -1.81513689e+01] [-1.26000482e-02 -1.14371214e-04 9.99920610e-01 -2.38651407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.978623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:110.91, Y:-18.16, Z:-2.39 [[ 9.82898065e-01 1.83668345e-01 1.33166097e-02 1.10907681e+02] [-1.83652686e-01 9.82988266e-01 -2.39992222e-03 -1.81552100e+01] [-1.35308609e-02 -8.67522325e-05 9.99908450e-01 -2.38659024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:110.94, Y:-18.16, Z:-2.39 [[ 9.83097425e-01 1.82589337e-01 1.34382895e-02 1.10940611e+02] [-1.82573253e-01 9.83189264e-01 -2.42445094e-03 -1.81598361e+01] [-1.36550608e-02 -7.00007548e-05 9.99906763e-01 -2.38721578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.038623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:110.97, Y:-18.16, Z:-2.39 [[ 9.83449081e-01 1.80698018e-01 1.32714275e-02 1.10972371e+02] [-1.80682123e-01 9.83538624e-01 -2.39697778e-03 -1.81644533e+01] [-1.34860906e-02 -4.06040945e-05 9.99909058e-01 -2.38808241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:111.00, Y:-18.17, Z:-2.39 [[ 9.83541620e-01 1.80185719e-01 1.33786640e-02 1.11004556e+02] [-1.80169487e-01 9.83632607e-01 -2.41874770e-03 -1.81698536e+01] [-1.35955140e-02 -3.14879976e-05 9.99907576e-01 -2.38863502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.098623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:111.04, Y:-18.17, Z:-2.39 [[ 9.83610233e-01 1.79824637e-01 1.31912602e-02 1.11035947e+02] [-1.79808788e-01 9.83698683e-01 -2.38750085e-03 -1.81747295e+01] [-1.34055568e-02 -2.35342477e-05 9.99910141e-01 -2.38935683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12862385300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:111.07, Y:-18.18, Z:-2.39 [[ 9.83732089e-01 1.79182576e-01 1.28367524e-02 1.11068948e+02] [-1.79167485e-01 9.83815839e-01 -2.32554125e-03 -1.81789144e+01] [-1.30456968e-02 -1.22190997e-05 9.99914901e-01 -2.39005422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15862385300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:111.10, Y:-18.18, Z:-2.39 [[ 9.83803992e-01 1.78839275e-01 1.20920799e-02 1.11101310e+02] [-1.78825832e-01 9.83878302e-01 -2.19275565e-03 -1.81825380e+01] [-1.22892859e-02 -5.13449019e-06 9.99924484e-01 -2.39095394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18862385300001 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:111.13, Y:-18.19, Z:-2.39 [[ 9.83818309e-01 1.78798975e-01 1.15091592e-02 1.11134325e+02] [-1.78786770e-01 9.83885627e-01 -2.08906316e-03 -1.81868036e+01] [-1.16972187e-02 -2.42680657e-06 9.99931585e-01 -2.38744170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:111.17, Y:-18.19, Z:-2.39 [[ 9.83870742e-01 1.78516306e-01 1.14145272e-02 1.11166126e+02] [-1.78504254e-01 9.83936954e-01 -2.07424974e-03 -1.81925300e+01] [-1.16014625e-02 3.25197323e-06 9.99932701e-01 -2.39237679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24862385300001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:111.20, Y:-18.20, Z:-2.39 [[ 9.83901212e-01 1.78373443e-01 1.10145115e-02 1.11199220e+02] [-1.78362192e-01 9.83962862e-01 -2.00343169e-03 -1.81976710e+01] [-1.11952293e-02 6.60644002e-06 9.99937331e-01 -2.39252603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27862385300001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:111.23, Y:-18.20, Z:-2.39 [[ 9.83915074e-01 1.78279760e-01 1.12895918e-02 1.11231568e+02] [-1.78267907e-01 9.83979841e-01 -2.05575034e-03 -1.82030819e+01] [-1.14752294e-02 1.01118468e-05 9.99934157e-01 -2.39323814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30862385300001 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:111.26, Y:-18.21, Z:-2.39 [[ 9.84085806e-01 1.77318633e-01 1.15424755e-02 1.11263522e+02] [-1.77306149e-01 9.84153495e-01 -2.10423465e-03 -1.82069437e+01] [-1.17326876e-02 2.41955842e-05 9.99931169e-01 -2.39356824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.338623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:111.30, Y:-18.21, Z:-2.39 [[ 9.84236583e-01 1.76462677e-01 1.18014031e-02 1.11296070e+02] [-1.76449539e-01 9.84307331e-01 -2.15355195e-03 -1.82122538e+01] [-1.19962291e-02 3.72524751e-05 9.99928042e-01 -2.39433617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368623853 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:111.33, Y:-18.22, Z:-2.40 [[ 9.84722552e-01 1.73706019e-01 1.21537525e-02 1.11327415e+02] [-1.73691842e-01 9.84797549e-01 -2.22046651e-03 -1.82180995e+01] [-1.23546941e-02 7.55357862e-05 9.99923675e-01 -2.39532648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.398623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:111.36, Y:-18.22, Z:-2.40 [[ 9.84953565e-01 1.72403265e-01 1.19828700e-02 1.11359327e+02] [-1.72389356e-01 9.85026449e-01 -2.19188137e-03 -1.82238746e+01] [-1.21813313e-02 9.31821365e-05 9.99925800e-01 -2.39573116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428623853 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:111.39, Y:-18.23, Z:-2.40 [[ 9.85167924e-01 1.71188842e-01 1.17703973e-02 1.11390908e+02] [-1.71175319e-01 9.85238229e-01 -2.15440599e-03 -1.82292872e+01] [-1.19654556e-02 1.07650171e-04 9.99928406e-01 -2.39674059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.458623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:111.42, Y:-18.24, Z:-2.40 [[ 9.85428921e-01 1.69705707e-01 1.13936210e-02 1.11423233e+02] [-1.69692929e-01 9.85494778e-01 -2.08613551e-03 -1.82356189e+01] [-1.15823831e-02 1.22321342e-04 9.99932914e-01 -2.39784745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488623853 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:111.45, Y:-18.24, Z:-2.40 [[ 9.85492208e-01 1.69360321e-01 1.10539394e-02 1.11454623e+02] [-1.69348247e-01 9.85554192e-01 -2.02609967e-03 -1.82420981e+01] [-1.12373972e-02 1.24740179e-04 9.99936851e-01 -2.39817315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51862385300001 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:111.49, Y:-18.25, Z:-2.40 [[ 9.85482305e-01 1.69429139e-01 1.08808875e-02 1.11486939e+02] [-1.69417424e-01 9.85542364e-01 -1.99623836e-03 -1.82486853e+01] [-1.10617966e-02 1.23845648e-04 9.99938809e-01 -2.39803310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54862385300001 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:111.52, Y:-18.26, Z:-2.40 [[ 9.85363397e-01 1.70080455e-01 1.14723337e-02 1.11519308e+02] [-1.70067448e-01 9.85430172e-01 -2.10715992e-03 -1.82551708e+01] [-1.16635705e-02 1.25247755e-04 9.99931970e-01 -2.39849518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57862385300001 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:111.55, Y:-18.26, Z:-2.40 [[ 9.85201349e-01 1.70997092e-01 1.17599273e-02 1.11551156e+02] [-1.70983462e-01 9.85271526e-01 -2.16226050e-03 -1.82617852e+01] [-1.19564618e-02 1.19508880e-04 9.99928512e-01 -2.39872013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60862385300001 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:111.58, Y:-18.27, Z:-2.40 [[ 9.84905213e-01 1.72670740e-01 1.21052486e-02 1.11582442e+02] [-1.72656392e-01 9.84979596e-01 -2.22839169e-03 -1.82677496e+01] [-1.23082009e-02 1.04706054e-04 9.99924246e-01 -2.39943178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63862385300001 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:111.61, Y:-18.27, Z:-2.40 [[ 9.84673430e-01 1.73981205e-01 1.21973802e-02 1.11613343e+02] [-1.73966709e-01 9.84748969e-01 -2.24769620e-03 -1.82749742e+01] [-1.24024145e-02 9.13086343e-05 9.99923083e-01 -2.40067088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66862385300001 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:111.65, Y:-18.28, Z:-2.40 [[ 9.84562935e-01 1.74599728e-01 1.22784884e-02 1.11645913e+02] [-1.74585061e-01 9.84639491e-01 -2.26476064e-03 -1.82829123e+01] [-1.24853111e-02 8.61587422e-05 9.99922052e-01 -2.40168618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:111.68, Y:-18.29, Z:-2.40 [[ 9.84435581e-01 1.75342044e-01 1.19061041e-02 1.11677315e+02] [-1.75328273e-01 9.84507573e-01 -2.19883446e-03 -1.82905433e+01] [-1.21071978e-02 7.71342104e-05 9.99926702e-01 -2.40231327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.728623853 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:111.71, Y:-18.30, Z:-2.40 [[ 9.84085361e-01 1.77346335e-01 1.11480806e-02 1.11709433e+02] [-1.77334384e-01 9.84148502e-01 -2.05945960e-03 -1.82985591e+01] [-1.13366044e-02 4.97460453e-05 9.99935737e-01 -2.40301688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.758623853 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:111.74, Y:-18.31, Z:-2.40 [[ 9.83499234e-01 1.80582493e-01 1.09187869e-02 1.11740873e+02] [-1.80571203e-01 9.83559842e-01 -2.01931262e-03 -1.83059595e+01] [-1.11039328e-02 1.43739328e-05 9.99938349e-01 -2.40408766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788623853 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:111.77, Y:-18.31, Z:-2.40 [[ 9.83111526e-01 1.82672172e-01 1.10727106e-02 1.11771825e+02] [-1.82660670e-01 9.83173880e-01 -2.04989672e-03 -1.83121478e+01] [-1.12608590e-02 -7.27165487e-06 9.99936594e-01 -2.40455230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.818623853 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:111.80, Y:-18.32, Z:-2.40 [[ 9.82662675e-01 1.85076343e-01 1.09915558e-02 1.11804446e+02] [-1.85065138e-01 9.82724146e-01 -2.03681828e-03 -1.83183429e+01] [-1.11786342e-02 -3.26484989e-05 9.99937517e-01 -2.40471424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848623853 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:111.84, Y:-18.32, Z:-2.41 [[ 9.81594740e-01 1.90663302e-01 1.09211338e-02 1.11837319e+02] [-1.90652562e-01 9.81655488e-01 -2.02580148e-03 -1.83239397e+01] [-1.11070369e-02 -9.36260618e-05 9.99938311e-01 -2.40550992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87862385300001 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:111.87, Y:-18.33, Z:-2.41 [[ 9.80980754e-01 1.93805842e-01 1.07729308e-02 1.11869369e+02] [-1.93795559e-01 9.81039897e-01 -2.00036186e-03 -1.83294224e+01] [-1.09563567e-02 -1.25429651e-04 9.99939969e-01 -2.40602238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90862385300001 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:111.90, Y:-18.33, Z:-2.41 [[ 9.79820592e-01 1.99593201e-01 1.06846330e-02 1.11902330e+02] [-1.99583407e-01 9.79878829e-01 -1.98599654e-03 -1.83327836e+01] [-1.08660370e-02 -1.86555143e-04 9.99940945e-01 -2.40648372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93862385300001 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:111.93, Y:-18.34, Z:-2.41 [[ 9.79224712e-01 2.02483774e-01 1.09217374e-02 1.11933676e+02] [-2.02473688e-01 9.79285593e-01 -2.03295316e-03 -1.83369883e+01] [-1.11071401e-02 -2.20646483e-04 9.99938289e-01 -2.40691883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96862385300001 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:111.97, Y:-18.34, Z:-2.41 [[ 9.78691696e-01 2.05029261e-01 1.12056639e-02 1.11965299e+02] [-2.05018800e-01 9.78755811e-01 -2.08681492e-03 -1.83407968e+01] [-1.13954668e-02 -2.55023330e-04 9.99935037e-01 -2.40803507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99862385300001 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:112.00, Y:-18.34, Z:-2.41 [[ 9.77933049e-01 2.08614614e-01 1.12647046e-02 1.11998409e+02] [-2.08604256e-01 9.77997881e-01 -2.09982668e-03 -1.83425274e+01] [-1.14549118e-02 -2.96375414e-04 9.99934346e-01 -2.40795009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02862385300001 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:112.03, Y:-18.35, Z:-2.41 [[ 9.77916210e-01 2.08693568e-01 1.12641688e-02 1.12031306e+02] [-2.08683183e-01 9.77981037e-01 -2.10269614e-03 -1.83488090e+01] [-1.14549627e-02 -2.94381960e-04 9.99934346e-01 -2.40859685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05862385300001 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:112.06, Y:-18.35, Z:-2.41 [[ 9.77648495e-01 2.09921483e-01 1.16787024e-02 1.12064425e+02] [-2.09910404e-01 9.77718195e-01 -2.18029199e-03 -1.83526996e+01] [-1.18761699e-02 -3.19921953e-04 9.99929425e-01 -2.40999771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088623853 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:112.10, Y:-18.35, Z:-2.41 [[ 9.77580782e-01 2.10269587e-01 1.10686544e-02 1.12096505e+02] [-2.10259634e-01 9.77643395e-01 -2.06848476e-03 -1.83545569e+01] [-1.12561363e-02 -3.05180274e-04 9.99936601e-01 -2.41045092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.118623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:112.13, Y:-18.36, Z:-2.41 [[ 9.77727562e-01 2.09595660e-01 1.08845641e-02 1.12128178e+02] [-2.09585972e-01 9.77788103e-01 -2.03605823e-03 -1.83581820e+01] [-1.10695463e-02 -2.90541701e-04 9.99938688e-01 -2.41088039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148623853 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:112.16, Y:-18.36, Z:-2.41 [[ 9.78417380e-01 2.06323608e-01 1.14017358e-02 1.12160456e+02] [-2.06312729e-01 9.78483776e-01 -2.13506875e-03 -1.83604474e+01] [-1.15969286e-02 -2.63334851e-04 9.99932719e-01 -2.41174152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.178623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:112.19, Y:-18.37, Z:-2.41 [[ 9.78879893e-01 2.04103659e-01 1.16555684e-02 1.12191144e+02] [-2.04092103e-01 9.78949253e-01 -2.18508110e-03 -1.83654492e+01] [-1.18561930e-02 -2.39877505e-04 9.99929684e-01 -2.41245746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208623853 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:112.22, Y:-18.37, Z:-2.41 [[ 9.79387095e-01 2.01640527e-01 1.19170626e-02 1.12223896e+02] [-2.01628260e-01 9.79459571e-01 -2.23448557e-03 -1.83705629e+01] [-1.21228438e-02 -2.14390259e-04 9.99926493e-01 -2.41241611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.238623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:112.26, Y:-18.37, Z:-2.41 [[ 9.80338958e-01 1.96881204e-01 1.31650889e-02 1.12255616e+02] [-1.96865761e-01 9.80427337e-01 -2.47161354e-03 -1.83731023e+01] [-1.33940273e-02 -1.68736212e-04 9.99910282e-01 -2.41289072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26862385300001 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:112.29, Y:-18.38, Z:-2.41 [[ 9.80748233e-01 1.94820555e-01 1.33361930e-02 1.12287827e+02] [-1.94804478e-01 9.80838892e-01 -2.50664398e-03 -1.83769555e+01] [-1.35690026e-02 -1.39563469e-04 9.99907927e-01 -2.41342096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29862385300001 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:112.32, Y:-18.38, Z:-2.42 [[ 9.81333363e-01 1.91929324e-01 1.21641299e-02 1.12319755e+02] [-1.91915716e-01 9.81408746e-01 -2.28725370e-03 -1.83802544e+01] [-1.23769745e-02 -8.99293340e-05 9.99923398e-01 -2.41505576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32862385300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:112.35, Y:-18.39, Z:-2.42 [[ 9.81578256e-01 1.90720802e-01 1.13887378e-02 1.12351898e+02] [-1.90708772e-01 9.81644320e-01 -2.14324861e-03 -1.83854913e+01] [-1.15884518e-02 -6.81659600e-05 9.99932849e-01 -2.41583370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35862385300001 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:112.38, Y:-18.39, Z:-2.42 [[ 9.81949852e-01 1.88848386e-01 1.05249456e-02 1.12383700e+02] [-1.88837977e-01 9.82006255e-01 -1.98309790e-03 -1.83895280e+01] [-1.07100673e-02 -4.02067441e-05 9.99942645e-01 -2.41666811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:112.42, Y:-18.39, Z:-2.42 [[ 9.82107292e-01 1.88032046e-01 1.04506658e-02 1.12416519e+02] [-1.88021731e-01 9.82162893e-01 -1.96970308e-03 -1.83944864e+01] [-1.06346235e-02 -3.04925267e-05 9.99943450e-01 -2.41733813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41862385300001 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:112.45, Y:-18.40, Z:-2.42 [[ 9.82272956e-01 1.87165516e-01 1.04360019e-02 1.12448037e+02] [-1.87155158e-01 9.82328392e-01 -1.96911996e-03 -1.83995050e+01] [-1.06201323e-02 -1.89383044e-05 9.99943605e-01 -2.41746508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:112.48, Y:-18.40, Z:-2.42 [[ 9.82648527e-01 1.85114329e-01 1.15999049e-02 1.12480832e+02] [-1.85101360e-01 9.82716991e-01 -2.19121140e-03 -1.84037734e+01] [-1.18050483e-02 6.03247482e-06 9.99930318e-01 -2.41797331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.478623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:112.51, Y:-18.41, Z:-2.42 [[ 9.82851522e-01 1.84008108e-01 1.19959289e-02 1.12512712e+02] [-1.83994120e-01 9.82924725e-01 -2.26898596e-03 -1.84090937e+01] [-1.22086069e-02 2.28959257e-05 9.99925472e-01 -2.41801006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:112.54, Y:-18.41, Z:-2.42 [[ 9.83321265e-01 1.81448160e-01 1.24841768e-02 1.12543977e+02] [-1.81432787e-01 9.83400509e-01 -2.36256160e-03 -1.84136886e+01] [-1.27056283e-02 5.81180690e-05 9.99919279e-01 -2.41918938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.538623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:112.58, Y:-18.42, Z:-2.41 [[ 9.83475359e-01 1.80662904e-01 1.17104308e-02 1.12576636e+02] [-1.80649301e-01 9.83545073e-01 -2.21795422e-03 -1.84195093e+01] [-1.19184386e-02 6.58221852e-05 9.99928971e-01 -2.41342177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:112.61, Y:-18.43, Z:-2.42 [[ 9.83789133e-01 1.78972338e-01 1.13068242e-02 1.12607532e+02] [-1.78959520e-01 9.83854102e-01 -2.14366073e-03 -1.84270074e+01] [-1.15079214e-02 8.54462991e-05 9.99933778e-01 -2.42138926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.598623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:112.64, Y:-18.43, Z:-2.42 [[ 9.83848743e-01 1.78673473e-01 1.08370618e-02 1.12640288e+02] [-1.78661661e-01 9.83908422e-01 -2.05631256e-03 -1.84333571e+01] [-1.10300849e-02 8.69330617e-05 9.99939163e-01 -2.42179980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:112.67, Y:-18.44, Z:-2.42 [[ 9.83854809e-01 1.78655729e-01 1.05757071e-02 1.12671301e+02] [-1.78644452e-01 9.83911644e-01 -2.00926386e-03 -1.84394013e+01] [-1.07645278e-02 8.75325215e-05 9.99942057e-01 -2.42252633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65862385300001 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:112.70, Y:-18.44, Z:-2.42 [[ 9.83750270e-01 1.79292901e-01 9.45840341e-03 1.12702513e+02] [-1.79283904e-01 9.83795736e-01 -1.79754732e-03 -1.84446152e+01] [-9.62742442e-03 7.25981727e-05 9.99953653e-01 -2.41726344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:112.73, Y:-18.45, Z:-2.42 [[ 9.83754245e-01 1.79254791e-01 9.76247036e-03 1.12732952e+02] [-1.79245178e-01 9.83802680e-01 -1.85812507e-03 -1.84509609e+01] [-9.93742233e-03 7.80626941e-05 9.99950620e-01 -2.42375599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71862385300001 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:112.76, Y:-18.46, Z:-2.42 [[ 9.83555508e-01 1.80363389e-01 9.36003131e-03 1.12763096e+02] [-1.80354599e-01 9.83600043e-01 -1.78184180e-03 -1.84567828e+01] [-9.52790622e-03 6.44156257e-05 9.99954606e-01 -2.42434138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:112.79, Y:-18.46, Z:-2.42 [[ 9.83370469e-01 1.81377398e-01 9.20649902e-03 1.12794273e+02] [-1.81368939e-01 9.83413563e-01 -1.75260606e-03 -1.84631024e+01] [-9.37167914e-03 5.36880903e-05 9.99956083e-01 -2.42471856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77862385300001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:112.82, Y:-18.47, Z:-2.43 [[ 9.82923444e-01 1.83775879e-01 9.37707415e-03 1.12823967e+02] [-1.83767209e-01 9.82968171e-01 -1.78541577e-03 -1.84684005e+01] [-9.54548178e-03 3.17282770e-05 9.99954440e-01 -2.42535612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80862385300001 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:112.85, Y:-18.47, Z:-2.43 [[ 9.82627157e-01 1.85334826e-01 9.74028708e-03 1.12854026e+02] [-1.85325545e-01 9.82675431e-01 -1.85480016e-03 -1.84739984e+01] [-9.91529987e-03 1.74529980e-05 9.99950842e-01 -2.42584293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.838623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:112.88, Y:-18.48, Z:-2.43 [[ 9.82109544e-01 1.88026138e-01 1.03447773e-02 1.12882569e+02] [-1.88015818e-01 9.82164025e-01 -1.97000883e-03 -1.84799888e+01] [-1.05306813e-02 -1.02172989e-05 9.99944551e-01 -2.42633541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:112.91, Y:-18.49, Z:-2.43 [[ 9.81828843e-01 1.89490148e-01 1.02765618e-02 1.12911903e+02] [-1.89480047e-01 9.81882622e-01 -1.95669269e-03 -1.84858791e+01] [-1.04611514e-02 -2.60660801e-05 9.99945280e-01 -2.42646187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.898623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:112.94, Y:-18.49, Z:-2.43 [[ 9.81326995e-01 1.92077843e-01 1.01701340e-02 1.12941558e+02] [-1.92068084e-01 9.81379692e-01 -1.93686515e-03 -1.84908481e+01] [-1.03527919e-02 -5.26601050e-05 9.99946407e-01 -2.42778436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:112.97, Y:-18.50, Z:-2.43 [[ 9.81076230e-01 1.93358240e-01 1.01005688e-02 1.12971252e+02] [-1.93348685e-01 9.81128221e-01 -1.92339241e-03 -1.84961393e+01] [-1.02818569e-02 -6.59371101e-05 9.99947138e-01 -2.42824767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.958623853 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:113.00, Y:-18.50, Z:-2.43 [[ 9.80771623e-01 1.94884764e-01 1.03417823e-02 1.13002899e+02] [-1.94874852e-01 9.80826142e-01 -1.96736888e-03 -1.85020922e+01] [-1.05269007e-02 -8.58137313e-05 9.99944587e-01 -2.42879890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988623853 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:113.03, Y:-18.51, Z:-2.43 [[ 9.80166646e-01 1.97888693e-01 1.06494297e-02 1.13032811e+02] [-1.97878324e-01 9.80224490e-01 -2.02923515e-03 -1.85067267e+01] [-1.08403945e-02 -1.18302689e-04 9.99941234e-01 -2.42868869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.06, Y:-18.51, Z:-2.43 [[ 9.79886540e-01 1.99261402e-01 1.08287574e-02 1.13060805e+02] [-1.99250759e-01 9.79946363e-01 -2.06391682e-03 -1.85110246e+01] [-1.10228604e-02 -1.35233824e-04 9.99939237e-01 -2.42904640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.09, Y:-18.51, Z:-2.43 [[ 9.79267838e-01 2.02206807e-01 1.21206006e-02 1.13088807e+02] [-2.02193703e-01 9.79342826e-01 -2.30980929e-03 -1.85139231e+01] [-1.23372824e-02 -1.88787162e-04 9.99923875e-01 -2.42861918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07862385300001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:113.12, Y:-18.52, Z:-2.43 [[ 9.78975913e-01 2.03585498e-01 1.26137328e-02 1.13119100e+02] [-2.03571433e-01 9.79057148e-01 -2.40270246e-03 -1.85181975e+01] [-1.28387206e-02 -2.15607822e-04 9.99917557e-01 -2.42879917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:113.15, Y:-18.52, Z:-2.43 [[ 9.78741255e-01 2.04727028e-01 1.23450064e-02 1.13149291e+02] [-2.04713648e-01 9.78819081e-01 -2.35143293e-03 -1.85223073e+01] [-1.25649297e-02 -2.25746877e-04 9.99921033e-01 -2.42958890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:113.18, Y:-18.52, Z:-2.43 [[ 9.78422565e-01 2.06267731e-01 1.19544204e-02 1.13177030e+02] [-2.06255292e-01 9.78495563e-01 -2.27764222e-03 -1.85243320e+01] [-1.21671514e-02 -2.37165928e-04 9.99925949e-01 -2.43014944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16862385300001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:113.21, Y:-18.53, Z:-2.43 [[ 9.78258251e-01 2.07026114e-01 1.22875224e-02 1.13205359e+02] [-2.07013041e-01 9.78335384e-01 -2.34033803e-03 -1.85273571e+01] [-1.25058290e-02 -2.54222386e-04 9.99921767e-01 -2.43038001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.24, Y:-18.53, Z:-2.43 [[ 9.78073132e-01 2.07895149e-01 1.23513784e-02 1.13235504e+02] [-2.07882017e-01 9.78151080e-01 -2.35184078e-03 -1.85277787e+01] [-1.25704505e-02 -2.67357187e-04 9.99920953e-01 -2.43122448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.228623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:113.26, Y:-18.53, Z:-2.43 [[ 9.78057367e-01 2.07985099e-01 1.20824709e-02 1.13264234e+02] [-2.07972543e-01 9.78131959e-01 -2.30043314e-03 -1.85310905e+01] [-1.22967067e-02 -2.62866610e-04 9.99924358e-01 -2.43207196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.258623853 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:113.29, Y:-18.53, Z:-2.43 [[ 9.78213244e-01 2.07269883e-01 1.17492597e-02 1.13292821e+02] [-2.07257961e-01 9.78283770e-01 -2.23671710e-03 -1.85323432e+01] [-1.19577142e-02 -2.47141330e-04 9.99928473e-01 -2.43245181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.32, Y:-18.53, Z:-2.43 [[ 9.78394018e-01 2.06412909e-01 1.17837646e-02 1.13322446e+02] [-2.06400866e-01 9.78464948e-01 -2.24238652e-03 -1.85349969e+01] [-1.19928581e-02 -2.38241659e-04 9.99928055e-01 -2.43318082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.318623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:113.35, Y:-18.54, Z:-2.43 [[ 9.78632113e-01 2.05264578e-01 1.20681597e-02 1.13352145e+02] [-2.05251864e-01 9.78706493e-01 -2.29619656e-03 -1.85378713e+01] [-1.22825140e-02 -2.29880566e-04 9.99924541e-01 -2.43409160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348623853 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:113.38, Y:-18.54, Z:-2.43 [[ 9.79316814e-01 2.01962929e-01 1.22292282e-02 1.13381425e+02] [-2.01949618e-01 9.79393148e-01 -2.32661213e-03 -1.85394737e+01] [-1.24471117e-02 -1.91197571e-04 9.99922513e-01 -2.42881411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37862385300001 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:113.41, Y:-18.54, Z:-2.44 [[ 9.79809260e-01 1.99503141e-01 1.31266892e-02 1.13410644e+02] [-1.99487592e-01 9.79897172e-01 -2.49673485e-03 -1.85439015e+01] [-1.33609120e-02 -1.72287679e-04 9.99910724e-01 -2.43527088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40862385300001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:113.44, Y:-18.55, Z:-2.44 [[ 9.80749309e-01 1.94813693e-01 1.33572867e-02 1.13439685e+02] [-1.94797161e-01 9.80840259e-01 -2.54032170e-03 -1.85453497e+01] [-1.35962540e-02 -1.10542770e-04 9.99907561e-01 -2.43532123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:113.47, Y:-18.55, Z:-2.44 [[ 9.81231335e-01 1.92369330e-01 1.33831143e-02 1.13467904e+02] [-1.92352515e-01 9.81322595e-01 -2.54466027e-03 -1.85491644e+01] [-1.36226670e-02 -7.73752919e-05 9.99907204e-01 -2.43612056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46862385300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:113.50, Y:-18.55, Z:-2.44 [[ 9.82059550e-01 1.88142350e-01 1.27081115e-02 1.13497597e+02] [-1.88126838e-01 9.82141770e-01 -2.41602125e-03 -1.85529519e+01] [-1.29357231e-02 -1.80600909e-05 9.99916330e-01 -2.43658738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.53, Y:-18.56, Z:-2.44 [[ 9.82430163e-01 1.86239183e-01 1.20806600e-02 1.13527176e+02] [-1.86225024e-01 9.82504436e-01 -2.29645607e-03 -1.85569548e+01] [-1.22969921e-02 6.38651316e-06 9.99924389e-01 -2.43765961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:113.56, Y:-18.56, Z:-2.44 [[ 9.82701703e-01 1.84825508e-01 1.17002088e-02 1.13556681e+02] [-1.84812130e-01 9.82771352e-01 -2.22386267e-03 -1.85605458e+01] [-1.19096565e-02 2.30531266e-05 9.99929077e-01 -2.43843582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:113.59, Y:-18.56, Z:-2.44 [[ 9.82981849e-01 1.83362601e-01 1.11732730e-02 1.13586589e+02] [-1.83350309e-01 9.83045347e-01 -2.12345610e-03 -1.85633342e+01] [-1.13731965e-02 3.86957433e-05 9.99935322e-01 -2.43957648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:113.62, Y:-18.57, Z:-2.44 [[ 9.83009512e-01 1.83219292e-01 1.10901270e-02 1.13616384e+02] [-1.83207176e-01 9.83072067e-01 -2.10737951e-03 -1.85673596e+01] [-1.12885066e-02 3.97832584e-05 9.99936282e-01 -2.44012098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.618623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:113.65, Y:-18.57, Z:-2.43 [[ 9.82887072e-01 1.83921764e-01 1.02853905e-02 1.13645461e+02] [-1.83911384e-01 9.82940885e-01 -1.95423536e-03 -1.85692575e+01] [-1.04693573e-02 2.91922590e-05 9.99945194e-01 -2.43487149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:113.67, Y:-18.57, Z:-2.44 [[ 9.82846280e-01 1.84120265e-01 1.06262804e-02 1.13673821e+02] [-1.84109198e-01 9.82903722e-01 -2.01890850e-03 -1.85738773e+01] [-1.08163326e-02 2.78807307e-05 9.99941501e-01 -2.44140207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.678623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:113.70, Y:-18.58, Z:-2.44 [[ 9.82791346e-01 1.84430593e-01 1.03212004e-02 1.13701198e+02] [-1.84420174e-01 9.82845540e-01 -1.96057446e-03 -1.85775706e+01] [-1.05057357e-02 2.33980381e-05 9.99944813e-01 -2.44201299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.73, Y:-18.58, Z:-2.44 [[ 9.82725338e-01 1.84809341e-01 9.81925391e-03 1.13730135e+02] [-1.84799935e-01 9.82774393e-01 -1.86457956e-03 -1.85808911e+01] [-9.99470302e-03 1.77720894e-05 9.99950052e-01 -2.44333226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.738623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:113.76, Y:-18.59, Z:-2.44 [[ 9.82737048e-01 1.84719733e-01 1.03206232e-02 1.13759101e+02] [-1.84709343e-01 9.82791239e-01 -1.95924759e-03 -1.85852938e+01] [-1.05049297e-02 1.91096669e-05 9.99944822e-01 -2.44396056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:113.79, Y:-18.59, Z:-2.44 [[ 9.82755040e-01 1.84562305e-01 1.13704571e-02 1.13786449e+02] [-1.84549690e-01 9.82820815e-01 -2.15800033e-03 -1.85890566e+01] [-1.15734074e-02 2.23713749e-05 9.99933026e-01 -2.44415467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.81, Y:-18.59, Z:-2.44 [[ 9.82802734e-01 1.84296117e-01 1.15640639e-02 1.13814411e+02] [-1.84283058e-01 9.82870765e-01 -2.19407061e-03 -1.85935055e+01] [-1.17703390e-02 2.52775385e-05 9.99930727e-01 -2.44486797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:113.84, Y:-18.60, Z:-2.45 [[ 9.82855504e-01 1.84017388e-01 1.15177539e-02 1.13842161e+02] [-1.84004423e-01 9.82922988e-01 -2.18451566e-03 -1.85978519e+01] [-1.17230540e-02 2.77455799e-05 9.99931282e-01 -2.44513458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.87, Y:-18.60, Z:-2.45 [[ 9.82811967e-01 1.84275150e-01 1.11043217e-02 1.13870809e+02] [-1.84263124e-01 9.82874696e-01 -2.10540180e-03 -1.86016274e+01] [-1.13021300e-02 2.30970814e-05 9.99936129e-01 -2.44607108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88862385300001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:113.90, Y:-18.60, Z:-2.44 [[ 9.82521461e-01 1.85853541e-01 1.04899776e-02 1.13897429e+02] [-1.85842901e-01 9.82577458e-01 -1.98867673e-03 -1.86044371e+01] [-1.06768182e-02 4.42968950e-06 9.99943001e-01 -2.44030943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91862385300001 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:113.93, Y:-18.61, Z:-2.44 [[ 9.82531806e-01 1.85798835e-01 1.04901276e-02 1.13925447e+02] [-1.85788201e-01 9.82587804e-01 -1.98788547e-03 -1.86096086e+01] [-1.06768182e-02 4.21877273e-06 9.99943001e-01 -2.44085922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:113.95, Y:-18.61, Z:-2.45 [[ 9.82405169e-01 1.86454269e-01 1.07186503e-02 1.13952433e+02] [-1.86443212e-01 9.82463641e-01 -2.03054647e-03 -1.86143163e+01] [-1.09092882e-02 -3.60023932e-06 9.99940492e-01 -2.44748223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.978623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:113.98, Y:-18.62, Z:-2.45 [[ 9.82217898e-01 1.87441796e-01 1.06571572e-02 1.13979793e+02] [-1.87430929e-01 9.82275711e-01 -2.01838529e-03 -1.86177542e+01] [-1.08465964e-02 -1.49867194e-05 9.99941174e-01 -2.44828049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:114.01, Y:-18.62, Z:-2.45 [[ 9.81743482e-01 1.89930867e-01 1.02956895e-02 1.14006787e+02] [-1.89920868e-01 9.81797466e-01 -1.94936101e-03 -1.86190533e+01] [-1.04785256e-02 -4.15938112e-05 9.99945098e-01 -2.44870548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.038623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:114.03, Y:-18.62, Z:-2.45 [[ 9.81446941e-01 1.91436174e-01 1.06814348e-02 1.14034762e+02] [-1.91425511e-01 9.81505063e-01 -2.02142471e-03 -1.86223727e+01] [-1.08708561e-02 -6.07780058e-05 9.99940909e-01 -2.44951070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.06, Y:-18.62, Z:-2.45 [[ 9.80876447e-01 1.94288022e-01 1.15568209e-02 1.14062987e+02] [-1.94275748e-01 9.80944522e-01 -2.18614517e-03 -1.86234150e+01] [-1.17613420e-02 -1.00871728e-04 9.99930828e-01 -2.44949394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.098623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:114.09, Y:-18.63, Z:-2.45 [[ 9.80695717e-01 1.95198365e-01 1.15546232e-02 1.14090887e+02] [-1.95186169e-01 9.80763777e-01 -2.18487883e-03 -1.86266043e+01] [-1.17588407e-02 -1.12601336e-04 9.99930856e-01 -2.44970861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.12, Y:-18.63, Z:-2.45 [[ 9.80578568e-01 1.95777673e-01 1.16950727e-02 1.14119101e+02] [-1.95765230e-01 9.80648300e-01 -2.21056184e-03 -1.86299769e+01] [-1.19015318e-02 -1.21859024e-04 9.99929167e-01 -2.45004868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.15, Y:-18.63, Z:-2.45 [[ 9.80508673e-01 1.96092496e-01 1.22668239e-02 1.14146852e+02] [-1.96078843e-01 9.80585394e-01 -2.31775258e-03 -1.86308346e+01] [-1.24831622e-02 -1.32688127e-04 9.99922073e-01 -2.45033804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:114.17, Y:-18.63, Z:-2.45 [[ 9.80547767e-01 1.95902897e-01 1.21709550e-02 1.14174395e+02] [-1.95889456e-01 9.80623290e-01 -2.29849860e-03 -1.86332788e+01] [-1.23854045e-02 -1.30374099e-04 9.99923289e-01 -2.45083115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:114.20, Y:-18.63, Z:-2.45 [[ 9.80775587e-01 1.94766992e-01 1.20443806e-02 1.14202732e+02] [-1.94753753e-01 9.80849533e-01 -2.27381109e-03 -1.86337859e+01] [-1.22565884e-02 -1.15589910e-04 9.99924879e-01 -2.45202224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.23, Y:-18.64, Z:-2.45 [[ 9.80964325e-01 1.93821098e-01 1.19320901e-02 1.14230395e+02] [-1.93808044e-01 9.81036886e-01 -2.25183935e-03 -1.86368852e+01] [-1.21422745e-02 -1.03560977e-04 9.99926275e-01 -2.45255616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:114.26, Y:-18.64, Z:-2.45 [[ 9.81158627e-01 1.92843218e-01 1.18000478e-02 1.14257881e+02] [-1.92830389e-01 9.81229578e-01 -2.22618764e-03 -1.86397726e+01] [-1.20078611e-02 -9.11646005e-05 9.99927899e-01 -2.45313194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.29, Y:-18.64, Z:-2.45 [[ 9.81618074e-01 1.90482621e-01 1.19301729e-02 1.14285123e+02] [-1.90469343e-01 9.81690566e-01 -2.24996017e-03 -1.86401083e+01] [-1.21403165e-02 -6.37306231e-05 9.99926302e-01 -2.45371492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:114.31, Y:-18.64, Z:-2.45 [[ 9.81910893e-01 1.88961556e-01 1.20220325e-02 1.14312139e+02] [-1.88947971e-01 9.81984485e-01 -2.26624195e-03 -1.86436804e+01] [-1.22336820e-02 -4.62909956e-05 9.99925165e-01 -2.45397151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:114.34, Y:-18.65, Z:-2.45 [[ 9.82628142e-01 1.85205066e-01 1.18750791e-02 1.14340025e+02] [-1.85191548e-01 9.82699895e-01 -2.23762085e-03 -1.86466795e+01] [-1.20840577e-02 -4.15077052e-07 9.99926985e-01 -2.45472998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.398623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:114.37, Y:-18.65, Z:-2.45 [[ 9.83022236e-01 1.83117914e-01 1.16238349e-02 1.14367030e+02] [-1.83104824e-01 9.83090957e-01 -2.18957512e-03 -1.86503761e+01] [-1.18282374e-02 2.40207837e-05 9.99930044e-01 -2.45489426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.40, Y:-18.65, Z:-2.46 [[ 9.83906360e-01 1.78299548e-01 1.17280125e-02 1.14395275e+02] [-1.78285893e-01 9.83976252e-01 -2.20818096e-03 -1.86523504e+01] [-1.19338035e-02 8.17041029e-05 9.99928786e-01 -2.45515597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.458623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:114.42, Y:-18.66, Z:-2.45 [[ 9.84360253e-01 1.75787938e-01 1.15539402e-02 1.14423666e+02] [-1.75774521e-01 9.84428052e-01 -2.17458385e-03 -1.86561228e+01] [-1.17562884e-02 1.09685607e-04 9.99930886e-01 -2.44985529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.45, Y:-18.66, Z:-2.46 [[ 9.84874240e-01 1.72840967e-01 1.21955670e-02 1.14451225e+02] [-1.72825805e-01 9.84949733e-01 -2.29439223e-03 -1.86613467e+01] [-1.24085855e-02 1.51979117e-04 9.99922999e-01 -2.45582308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.48, Y:-18.67, Z:-2.46 [[ 9.85692612e-01 1.68141065e-01 1.17752668e-02 1.14477665e+02] [-1.68126603e-01 9.85762923e-01 -2.21460700e-03 -1.86667829e+01] [-1.19799878e-02 2.03186162e-04 9.99928217e-01 -2.45658939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.50, Y:-18.67, Z:-2.46 [[ 9.86066607e-01 1.65952666e-01 1.15047302e-02 1.14504840e+02] [-1.65938723e-01 9.86133694e-01 -2.16271494e-03 -1.86723715e+01] [-1.17041104e-02 2.23500756e-04 9.99931480e-01 -2.45738642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.53, Y:-18.68, Z:-2.46 [[ 9.86534281e-01 1.63168435e-01 1.12327344e-02 1.14531558e+02] [-1.63154973e-01 9.86598196e-01 -2.11073581e-03 -1.86789587e+01] [-1.14266010e-02 2.49636752e-04 9.99934683e-01 -2.45789914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.56, Y:-18.68, Z:-2.46 [[ 9.86652494e-01 1.62424339e-01 1.16271749e-02 1.14559918e+02] [-1.62409873e-01 9.86720965e-01 -2.18405358e-03 -1.86848949e+01] [-1.18275207e-02 2.66533921e-04 9.99930017e-01 -2.45774184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.59, Y:-18.69, Z:-2.46 [[ 9.86758429e-01 1.61757024e-01 1.19359889e-02 1.14587677e+02] [-1.61741737e-01 9.86830576e-01 -2.24149368e-03 -1.86905370e+01] [-1.21413762e-02 2.81265192e-04 9.99926251e-01 -2.45832076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.61, Y:-18.70, Z:-2.46 [[ 9.86852742e-01 1.61173729e-01 1.20289088e-02 1.14614615e+02] [-1.61158166e-01 9.86926008e-01 -2.25845041e-03 -1.86978143e+01] [-1.22356458e-02 2.90201107e-04 9.99925100e-01 -2.45912594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.64, Y:-18.70, Z:-2.46 [[ 9.86892015e-01 1.60917327e-01 1.22378397e-02 1.14642451e+02] [-1.60901211e-01 9.86967844e-01 -2.29670209e-03 -1.87046681e+01] [-1.24479335e-02 2.97513715e-04 9.99922477e-01 -2.45959332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.728623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.67, Y:-18.71, Z:-2.46 [[ 9.86873992e-01 1.61044935e-01 1.20105532e-02 1.14669623e+02] [-1.61029428e-01 9.86947032e-01 -2.25357484e-03 -1.87127655e+01] [-1.22167067e-02 2.89941884e-04 9.99925331e-01 -2.46022800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.70, Y:-18.72, Z:-2.46 [[ 9.86899259e-01 1.60920577e-01 1.15939789e-02 1.14696690e+02] [-1.60906126e-01 9.86967319e-01 -2.17475520e-03 -1.87192715e+01] [-1.17928411e-02 2.80722061e-04 9.99930423e-01 -2.46070209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.72, Y:-18.73, Z:-2.46 [[ 9.86883838e-01 1.61044645e-01 1.11764606e-02 1.14724539e+02] [-1.61031232e-01 9.86947086e-01 -2.09575875e-03 -1.87263129e+01] [-1.13680859e-02 2.68511232e-04 9.99935345e-01 -2.46130301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.818623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.75, Y:-18.73, Z:-2.46 [[ 9.86747844e-01 1.61972898e-01 9.66808572e-03 1.14752841e+02] [-1.61962909e-01 9.86795182e-01 -1.81258443e-03 -1.87343131e+01] [-9.83400996e-03 2.22692490e-04 9.99951620e-01 -2.46185110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.78, Y:-18.74, Z:-2.46 [[ 9.86556716e-01 1.63174359e-01 8.94287876e-03 1.14779628e+02] [-1.63165863e-01 9.86597228e-01 -1.67641703e-03 -1.87405842e+01] [-9.09656767e-03 1.94707943e-04 9.99958606e-01 -2.46282734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.81, Y:-18.75, Z:-2.46 [[ 9.85933579e-01 1.66919391e-01 8.53789280e-03 1.14807819e+02] [-1.66911793e-01 9.85970534e-01 -1.59979219e-03 -1.87477661e+01] [-8.68514706e-03 1.52213838e-04 9.99962272e-01 -2.46304237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.84, Y:-18.75, Z:-2.46 [[ 9.85484056e-01 1.69543483e-01 8.72822493e-03 1.14836057e+02] [-1.69535650e-01 9.85522699e-01 -1.63502185e-03 -1.87534173e+01] [-8.87907109e-03 1.31542683e-04 9.99960572e-01 -2.46330780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:114.86, Y:-18.76, Z:-2.46 [[ 9.85012860e-01 1.72247492e-01 8.97037519e-03 1.14864710e+02] [-1.72239335e-01 9.85053699e-01 -1.67991781e-03 -1.87589741e+01] [-9.12566288e-03 1.09689188e-04 9.99958354e-01 -2.46349650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.89, Y:-18.76, Z:-2.46 [[ 9.84124168e-01 1.77234595e-01 9.35527081e-03 1.14890535e+02] [-1.77225949e-01 9.84168631e-01 -1.75185237e-03 -1.87649936e+01] [-9.51765291e-03 6.60435101e-05 9.99954704e-01 -2.46462270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.92, Y:-18.77, Z:-2.47 [[ 9.83856085e-01 1.78697861e-01 9.70975387e-03 1.14917850e+02] [-1.78688629e-01 9.83903995e-01 -1.81721938e-03 -1.87708510e+01] [-9.87819884e-03 5.28597430e-05 9.99951208e-01 -2.46551562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.95, Y:-18.78, Z:-2.47 [[ 9.83553339e-01 1.80359020e-01 9.66713962e-03 1.14945305e+02] [-1.80349956e-01 9.83600845e-01 -1.80854810e-03 -1.87769586e+01] [-9.83479467e-03 3.53353180e-05 9.99951637e-01 -2.46548912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.97, Y:-18.78, Z:-2.47 [[ 9.83511273e-01 1.80586805e-01 9.69437104e-03 1.14972334e+02] [-1.80577707e-01 9.83559050e-01 -1.81303975e-03 -1.87819362e+01] [-9.86239742e-03 3.25577400e-05 9.99951365e-01 -2.46609102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.00, Y:-18.79, Z:-2.47 [[ 9.83580034e-01 1.80195948e-01 9.98684102e-03 1.15000344e+02] [-1.80186284e-01 9.83630733e-01 -1.86653499e-03 -1.87889317e+01] [-1.01597058e-02 3.63947775e-05 9.99948388e-01 -2.46694686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.118623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:115.03, Y:-18.80, Z:-2.46 [[ 9.83658993e-01 1.79790934e-01 9.49760757e-03 1.15028656e+02] [-1.79782179e-01 9.83704843e-01 -1.77467926e-03 -1.87955980e+01] [-9.66191381e-03 3.81786285e-05 9.99953322e-01 -2.46281884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:-18.80, Z:-2.47 [[ 9.83819291e-01 1.78898676e-01 9.73993554e-03 1.15056117e+02] [-1.78889430e-01 9.83867502e-01 -1.81946336e-03 -1.88028600e+01] [-9.90830564e-03 4.76516405e-05 9.99950910e-01 -2.46775502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.08, Y:-18.81, Z:-2.47 [[ 9.84120889e-01 1.77251899e-01 9.37225668e-03 1.15082818e+02] [-1.77243266e-01 9.84165515e-01 -1.75045727e-03 -1.88112412e+01] [-9.53412370e-03 6.14921810e-05 9.99954547e-01 -2.46832093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:115.11, Y:-18.82, Z:-2.46 [[ 9.84230315e-01 1.76662901e-01 8.99477695e-03 1.15111095e+02] [-1.76654931e-01 9.84271413e-01 -1.67928658e-03 -1.88177968e+01] [-9.14996946e-03 6.38330583e-05 9.99958136e-01 -2.46329104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.238623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:115.14, Y:-18.83, Z:-2.47 [[ 9.84384454e-01 1.75771467e-01 9.57275650e-03 1.15138696e+02] [-1.75762402e-01 9.84430996e-01 -1.78669395e-03 -1.88263779e+01] [-9.73776803e-03 7.62630671e-05 9.99952584e-01 -2.46912169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:115.17, Y:-18.83, Z:-2.46 [[ 9.84362811e-01 1.75918668e-01 9.08173718e-03 1.15165805e+02] [-1.75910519e-01 9.84404702e-01 -1.69475888e-03 -1.88320791e+01] [-9.23824451e-03 7.06845168e-05 9.99957324e-01 -2.46331105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.19, Y:-18.84, Z:-2.47 [[ 9.84339953e-01 1.76023022e-01 9.52638221e-03 1.15194219e+02] [-1.76014068e-01 9.84386047e-01 -1.77694906e-03 -1.88388642e+01] [-9.69042167e-03 7.23446739e-05 9.99953044e-01 -2.47015278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.22, Y:-18.85, Z:-2.47 [[ 9.84076127e-01 1.77497529e-01 9.42358430e-03 1.15222217e+02] [-1.77488838e-01 9.84121245e-01 -1.75732877e-03 -1.88473509e+01] [-9.58587103e-03 5.67642573e-05 9.99954053e-01 -2.46738285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.25, Y:-18.85, Z:-2.47 [[ 9.83941017e-01 1.78236452e-01 9.58342164e-03 1.15248769e+02] [-1.78227503e-01 9.83987685e-01 -1.78680011e-03 -1.88544990e+01] [-9.74844178e-03 5.00766101e-05 9.99952482e-01 -2.47095365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.28, Y:-18.86, Z:-2.47 [[ 9.83599354e-01 1.80105922e-01 9.70401614e-03 1.15276938e+02] [-1.80096846e-01 9.83647221e-01 -1.80844586e-03 -1.88625749e+01] [-9.87104032e-03 3.11234781e-05 9.99951280e-01 -2.47138918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.31, Y:-18.87, Z:-2.47 [[ 9.83422091e-01 1.81054779e-01 1.00079119e-02 1.15305037e+02] [-1.81045179e-01 9.83473013e-01 -1.86457260e-03 -1.88677931e+01] [-1.01801011e-02 2.17776792e-05 9.99948181e-01 -2.47145497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.33, Y:-18.87, Z:-2.47 [[ 9.83204851e-01 1.82212063e-01 1.03433445e-02 1.15332543e+02] [-1.82201878e-01 9.83259256e-01 -1.92661802e-03 -1.88730065e+01] [-1.05212422e-02 9.68340665e-06 9.99944650e-01 -2.47224243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.478623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.36, Y:-18.88, Z:-2.47 [[ 9.82781387e-01 1.84484952e-01 1.02979832e-02 1.15359464e+02] [-1.84474987e-01 9.82835338e-01 -1.91752138e-03 -1.88789513e+01] [-1.04749757e-02 -1.52159944e-05 9.99945136e-01 -2.47292724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.39, Y:-18.88, Z:-2.47 [[ 9.82575642e-01 1.85567284e-01 1.04828977e-02 1.15386802e+02] [-1.85557027e-01 9.82631560e-01 -1.95124900e-03 -1.88849877e+01] [-1.06629141e-02 -2.79256056e-05 9.99943149e-01 -2.47364369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.538623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.41, Y:-18.89, Z:-2.47 [[ 9.82075971e-01 1.88217867e-01 1.00410016e-02 1.15414843e+02] [-1.88208602e-01 9.82127299e-01 -1.86837088e-03 -1.88910088e+01] [-1.02132025e-02 -5.49207143e-05 9.99947842e-01 -2.47395960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.44, Y:-18.90, Z:-2.47 [[ 9.81777499e-01 1.89786810e-01 9.69062385e-03 1.15443465e+02] [-1.89778261e-01 9.81825321e-01 -1.80274136e-03 -1.88958696e+01] [-9.85663641e-03 -6.91788352e-05 9.99951420e-01 -2.47424412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.598623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.47, Y:-18.90, Z:-2.48 [[ 9.81466310e-01 1.91396094e-01 9.56121474e-03 1.15470915e+02] [-1.91387851e-01 9.81512877e-01 -1.77831550e-03 -1.89006842e+01] [-9.72481803e-03 -8.45435932e-05 9.99952709e-01 -2.47548172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.50, Y:-18.90, Z:-2.48 [[ 9.80823565e-01 1.94658375e-01 9.65664148e-03 1.15498195e+02] [-1.94650130e-01 9.80871094e-01 -1.79554230e-03 -1.89043997e+01] [-9.82143784e-03 -1.18556321e-04 9.99951761e-01 -2.47565171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:115.53, Y:-18.91, Z:-2.48 [[ 9.80451447e-01 1.96537191e-01 9.38574119e-03 1.15526787e+02] [-1.96529496e-01 9.80496361e-01 -1.74434044e-03 -1.89076729e+01] [-9.54551286e-03 -1.34333870e-04 9.99954432e-01 -2.47616874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.55, Y:-18.91, Z:-2.48 [[ 9.79685368e-01 2.00325307e-01 9.29249811e-03 1.15554721e+02] [-2.00317937e-01 9.79729423e-01 -1.72666825e-03 -1.89095511e+01] [-9.45002916e-03 -1.69862432e-04 9.99955333e-01 -2.47664761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.58, Y:-18.91, Z:-2.48 [[ 9.79406908e-01 2.01676394e-01 9.42021978e-03 1.15581343e+02] [-2.01668885e-01 9.79452193e-01 -1.75019122e-03 -1.89131461e+01] [-9.57962718e-03 -1.85615854e-04 9.99954097e-01 -2.47712067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:-18.92, Z:-2.48 [[ 9.79141664e-01 2.02955848e-01 9.51451613e-03 1.15608848e+02] [-2.02948262e-01 9.79187869e-01 -1.76636983e-03 -1.89162448e+01] [-9.67499386e-03 -2.01428219e-04 9.99953176e-01 -2.47739373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:115.64, Y:-18.92, Z:-2.48 [[ 9.78884054e-01 2.04217435e-01 9.01374099e-03 1.15637001e+02] [-2.04210684e-01 9.78925532e-01 -1.67282375e-03 -1.89173045e+01] [-9.16540097e-03 -2.03201722e-04 9.99957976e-01 -2.47866877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:-18.92, Z:-2.48 [[ 9.78861236e-01 2.04313322e-01 9.31381850e-03 1.15663567e+02] [-2.04306125e-01 9.78905522e-01 -1.72790421e-03 -1.89202597e+01] [-9.47038222e-03 -2.11491710e-04 9.99955133e-01 -2.47976275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.69, Y:-18.93, Z:-2.48 [[ 9.78873007e-01 2.04256913e-01 9.31400030e-03 1.15691605e+02] [-2.04249722e-01 9.78917294e-01 -1.72692344e-03 -1.89253249e+01] [-9.47037203e-03 -2.11943233e-04 9.99955133e-01 -2.48031254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.72, Y:-18.93, Z:-2.48 [[ 9.78904782e-01 2.04093581e-01 9.55190772e-03 1.15718773e+02] [-2.04086014e-01 9.78951359e-01 -1.77065680e-03 -1.89283092e+01] [-9.71223273e-03 -2.16106368e-04 9.99952812e-01 -2.48055997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.75, Y:-18.93, Z:-2.48 [[ 9.79209525e-01 2.02624728e-01 9.58775340e-03 1.15746715e+02] [-2.02617043e-01 9.79256442e-01 -1.77640410e-03 -1.89293755e+01] [-9.74881267e-03 -2.03170431e-04 9.99952459e-01 -2.48093457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.77, Y:-18.93, Z:-2.48 [[ 9.79427060e-01 2.01572478e-01 9.54825655e-03 1.15774315e+02] [-2.01564813e-01 9.79473583e-01 -1.76840577e-03 -1.89325445e+01] [-9.70872698e-03 -1.92568084e-04 9.99952851e-01 -2.48121453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.80, Y:-18.93, Z:-2.48 [[ 9.79902405e-01 1.99246364e-01 9.60018155e-03 1.15803131e+02] [-1.99238510e-01 9.79949416e-01 -1.77732633e-03 -1.89332840e+01] [-9.76181811e-03 -1.71119518e-04 9.99952338e-01 -2.48179968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.83, Y:-18.94, Z:-2.48 [[ 9.80097981e-01 1.98284816e-01 9.54358804e-03 1.15830296e+02] [-1.98277014e-01 9.80144431e-01 -1.76624462e-03 -1.89356373e+01] [-9.70431416e-03 -1.61181357e-04 9.99952899e-01 -2.48195400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.86, Y:-18.94, Z:-2.48 [[ 9.80201199e-01 1.97754197e-01 9.94415638e-03 1.15857892e+02] [-1.97745711e-01 9.80251626e-01 -1.83930796e-03 -1.89381731e+01] [-1.01115063e-02 -1.63522404e-04 9.99948864e-01 -2.48240378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:-18.94, Z:-2.48 [[ 9.80406396e-01 1.96713953e-01 1.03401565e-02 1.15886430e+02] [-1.96704728e-01 9.80460910e-01 -1.91173891e-03 -1.89379865e+01] [-1.05141850e-02 -1.59676617e-04 9.99944712e-01 -2.48241853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:115.91, Y:-18.94, Z:-2.48 [[ 9.80567437e-01 1.95901795e-01 1.04875136e-02 1.15913219e+02] [-1.95892267e-01 9.80623507e-01 -1.93828709e-03 -1.89399267e+01] [-1.06640162e-02 -1.53801595e-04 9.99943126e-01 -2.48269251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:-18.94, Z:-2.48 [[ 9.80804230e-01 1.94715331e-01 1.04404388e-02 1.15941599e+02] [-1.94705831e-01 9.80859786e-01 -1.92858420e-03 -1.89427178e+01] [-1.06161315e-02 -1.41250763e-04 9.99943637e-01 -2.48343019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.97, Y:-18.94, Z:-2.49 [[ 9.81549072e-01 1.90950536e-01 9.96551400e-03 1.15969908e+02] [-1.90941693e-01 9.81599655e-01 -1.84018134e-03 -1.89446950e+01] [-1.01335287e-02 -9.66038250e-05 9.99948650e-01 -2.48509424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:-18.95, Z:-2.49 [[ 9.82024705e-01 1.88515725e-01 9.44991610e-03 1.15997181e+02] [-1.88507666e-01 9.82070169e-01 -1.74445942e-03 -1.89482221e+01] [-9.60933873e-03 -6.82793881e-05 9.99953827e-01 -2.48611929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:116.02, Y:-18.95, Z:-2.49 [[ 9.82958621e-01 1.83621988e-01 8.67838526e-03 1.16024978e+02] [-1.83615006e-01 9.82996930e-01 -1.60130030e-03 -1.89497455e+01] [-8.82486001e-03 -1.94698244e-05 9.99961060e-01 -2.48652877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.228623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.05, Y:-18.95, Z:-2.49 [[ 9.83427424e-01 1.81096120e-01 8.64272560e-03 1.16052046e+02] [-1.81089103e-01 9.83465401e-01 -1.59420600e-03 -1.89524528e+01] [-8.78852613e-03 2.68247244e-06 9.99961380e-01 -2.48726955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.258623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:116.08, Y:-18.96, Z:-2.49 [[ 9.83902883e-01 1.78487561e-01 8.79241082e-03 1.16080263e+02] [-1.78480203e-01 9.83942168e-01 -1.62090094e-03 -1.89560314e+01] [-8.94053442e-03 2.55378444e-05 9.99960032e-01 -2.48817562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:116.11, Y:-18.96, Z:-2.49 [[ 9.84831977e-01 1.73258265e-01 9.35685187e-03 1.16106668e+02] [-1.73249702e-01 9.84876423e-01 -1.72427636e-03 -1.89590603e+01] [-9.51408793e-03 7.70507009e-05 9.99954737e-01 -2.48873527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.318623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:116.13, Y:-18.96, Z:-2.49 [[ 9.85252812e-01 1.70825189e-01 9.78016174e-03 1.16134280e+02] [-1.70815724e-01 9.85301347e-01 -1.80125934e-03 -1.89630620e+01] [-9.94410700e-03 1.04090426e-04 9.99950551e-01 -2.48873820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.16, Y:-18.97, Z:-2.49 [[ 9.85652009e-01 1.68500421e-01 9.88558561e-03 1.16162374e+02] [-1.68490642e-01 9.85701573e-01 -1.81991786e-03 -1.89669289e+01] [-1.00508942e-02 1.28177035e-04 9.99949480e-01 -2.48840166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:116.19, Y:-18.97, Z:-2.49 [[ 9.86426141e-01 1.63843175e-01 1.09032988e-02 1.16190345e+02] [-1.63831005e-01 9.86486379e-01 -2.00625631e-03 -1.89702111e+01] [-1.10846672e-02 1.92725269e-04 9.99938545e-01 -2.48897814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40862385300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.22, Y:-18.97, Z:-2.49 [[ 9.86783651e-01 1.61652878e-01 1.12415640e-02 1.16216659e+02] [-1.61639807e-01 9.86847656e-01 -2.06780301e-03 -1.89745014e+01] [-1.14279774e-02 2.23389963e-04 9.99934674e-01 -2.48914453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:116.25, Y:-18.98, Z:-2.49 [[ 9.87360474e-01 1.58084528e-01 1.13391867e-02 1.16245374e+02] [-1.58071007e-01 9.87425547e-01 -2.08453243e-03 -1.89798892e+01] [-1.15261349e-02 2.65788266e-04 9.99933537e-01 -2.49006558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:116.27, Y:-18.99, Z:-2.49 [[ 9.87613448e-01 1.56518264e-01 1.10322630e-02 1.16273734e+02] [-1.56505373e-01 9.87675026e-01 -2.02761578e-03 -1.89858013e+01] [-1.12136495e-02 2.75892166e-04 9.99937087e-01 -2.49084888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49862385300001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:116.30, Y:-18.99, Z:-2.49 [[ 9.87855853e-01 1.55022784e-01 1.04283502e-02 1.16300744e+02] [-1.55011186e-01 9.87910856e-01 -1.91627725e-03 -1.89916654e+01] [-1.05993470e-02 2.76494758e-04 9.99943787e-01 -2.49181196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52862385300001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:116.33, Y:-19.00, Z:-2.49 [[ 9.88066434e-01 1.53703000e-01 1.00055098e-02 1.16329029e+02] [-1.53692263e-01 9.88117053e-01 -1.83793124e-03 -1.89974921e+01] [-1.01691104e-02 2.78228733e-04 9.99948255e-01 -2.49256819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:116.36, Y:-19.00, Z:-2.49 [[ 9.88292372e-01 1.52336862e-01 8.46572466e-03 1.16357287e+02] [-1.52329127e-01 9.88328599e-01 -1.55482681e-03 -1.90045341e+01] [-8.60377523e-03 2.47047035e-04 9.99962956e-01 -2.49373481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58862385300002 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:116.39, Y:-19.01, Z:-2.49 [[ 9.88374275e-01 1.51812638e-01 8.31954581e-03 1.16385887e+02] [-1.51805152e-01 9.88409258e-01 -1.52763809e-03 -1.90109045e+01] [-8.45503087e-03 2.46928274e-04 9.99964225e-01 -2.49476165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.618623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:116.41, Y:-19.02, Z:-2.49 [[ 9.88266021e-01 1.52513081e-01 8.36856421e-03 1.16413532e+02] [-1.52505536e-01 9.88301422e-01 -1.53622087e-03 -1.90177869e+01] [-8.50495769e-03 2.41942516e-04 9.99963803e-01 -2.49435987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:116.44, Y:-19.02, Z:-2.49 [[ 9.88130251e-01 1.53370862e-01 8.71704420e-03 1.16440926e+02] [-1.53362711e-01 9.88168669e-01 -1.59984490e-03 -1.90234253e+01] [-8.85927956e-03 2.43985608e-04 9.99960726e-01 -2.49388266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.678623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:116.47, Y:-19.03, Z:-2.49 [[ 9.87886963e-01 1.54879977e-01 9.56768682e-03 1.16468496e+02] [-1.54870236e-01 9.87933261e-01 -1.75521340e-03 -1.90293978e+01] [-9.72408345e-03 2.52202515e-04 9.99952688e-01 -2.49416797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:116.50, Y:-19.04, Z:-2.49 [[ 9.87195754e-01 1.59110125e-01 1.13363274e-02 1.16495966e+02] [-1.59096737e-01 9.87260810e-01 -2.07892389e-03 -1.90357501e+01] [-1.15226896e-02 2.48732140e-04 9.99933581e-01 -2.49385495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.738623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:116.52, Y:-19.04, Z:-2.49 [[ 9.86305543e-01 1.64477244e-01 1.21906135e-02 1.16522900e+02] [-1.64462183e-01 9.86380858e-01 -2.23467028e-03 -1.90420846e+01] [-1.23921402e-02 1.99172773e-04 9.99923195e-01 -2.49372173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:116.55, Y:-19.05, Z:-2.49 [[ 9.85892516e-01 1.66921610e-01 1.23742898e-02 1.16549149e+02] [-1.66906295e-01 9.85970155e-01 -2.26756074e-03 -1.90471407e+01] [-1.25791853e-02 1.70224308e-04 9.99920864e-01 -2.49424793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:116.58, Y:-19.05, Z:-2.49 [[ 9.85499846e-01 1.69218287e-01 1.24589654e-02 1.16576409e+02] [-1.69202957e-01 9.85578587e-01 -2.28201749e-03 -1.90527886e+01] [-1.26654486e-02 1.40834106e-04 9.99919780e-01 -2.49481910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:116.60, Y:-19.06, Z:-2.50 [[ 9.85167350e-01 1.71169840e-01 1.20904064e-02 1.16602762e+02] [-1.71155560e-01 9.85241531e-01 -2.21381316e-03 -1.90579247e+01] [-1.22909086e-02 1.11636168e-04 9.99924458e-01 -2.49560557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85862385300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:116.63, Y:-19.06, Z:-2.50 [[ 9.84685923e-01 1.74004035e-01 1.07809439e-02 1.16629152e+02] [-1.73992857e-01 9.84744937e-01 -1.97348298e-03 -1.90637393e+01] [-1.09598740e-02 6.74536777e-05 9.99939937e-01 -2.49706767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:116.66, Y:-19.07, Z:-2.50 [[ 9.84546832e-01 1.74810793e-01 1.04269577e-02 1.16656768e+02] [-1.74800393e-01 9.84602043e-01 -1.90755775e-03 -1.90691429e+01] [-1.05998656e-02 5.54436285e-05 9.99943818e-01 -2.49784928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:116.68, Y:-19.08, Z:-2.50 [[ 9.84330563e-01 1.76033267e-01 1.02777100e-02 1.16682715e+02] [-1.76023233e-01 9.84384217e-01 -1.87995265e-03 -1.90753420e+01] [-1.04481497e-02 4.13791007e-05 9.99945416e-01 -2.49817120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:116.71, Y:-19.08, Z:-2.50 [[ 9.84239089e-01 1.76543417e-01 1.02876953e-02 1.16708685e+02] [-1.76533404e-01 9.84292853e-01 -1.88064538e-03 -1.90809117e+01] [-1.04581205e-02 3.48828309e-05 9.99945312e-01 -2.49850739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.978623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:116.74, Y:-19.09, Z:-2.50 [[ 9.84137246e-01 1.77116954e-01 1.01718272e-02 1.16736378e+02] [-1.77107210e-01 9.84189811e-01 -1.85805125e-03 -1.90861350e+01] [-1.03401011e-02 2.70735062e-05 9.99946539e-01 -2.49816984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:116.76, Y:-19.09, Z:-2.50 [[ 9.83855098e-01 1.78668783e-01 1.03252991e-02 1.16762834e+02] [-1.78658835e-01 9.83909277e-01 -1.88548368e-03 -1.90901362e+01] [-1.04960347e-02 1.03368233e-05 9.99944915e-01 -2.49839140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.038623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:116.79, Y:-19.09, Z:-2.49 [[ 9.83701740e-01 1.79524640e-01 1.00891217e-02 1.16790126e+02] [-1.79515195e-01 9.83753477e-01 -1.84151733e-03 -1.90944194e+01] [-1.02558063e-02 3.53147907e-07 9.99947408e-01 -2.49320536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:116.82, Y:-19.10, Z:-2.50 [[ 9.83553567e-01 1.80274459e-01 1.11130948e-02 1.16817888e+02] [-1.80263057e-01 9.83616348e-01 -2.02760589e-03 -1.90996230e+01] [-1.12965473e-02 -9.02143901e-06 9.99936192e-01 -2.49939467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.098623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:116.84, Y:-19.10, Z:-2.50 [[ 9.83575285e-01 1.80148667e-01 1.12301239e-02 1.16844406e+02] [-1.80137021e-01 9.83639394e-01 -2.04837397e-03 -1.91047180e+01] [-1.14154041e-02 -8.23106906e-06 9.99934842e-01 -2.49990780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:116.87, Y:-19.11, Z:-2.50 [[ 9.83598681e-01 1.80002535e-01 1.15205028e-02 1.16871432e+02] [-1.79990285e-01 9.83666146e-01 -2.10000967e-03 -1.91098144e+01] [-1.17103356e-02 -8.01183077e-06 9.99931432e-01 -2.50040381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15862385300001 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:116.90, Y:-19.11, Z:-2.50 [[ 9.83829057e-01 1.78752348e-01 1.13129953e-02 1.16898184e+02] [-1.78740460e-01 9.83894099e-01 -2.06151736e-03 -1.91144527e+01] [-1.14992904e-02 6.09069036e-06 9.99933881e-01 -2.50115155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18862385300001 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:116.93, Y:-19.12, Z:-2.50 [[ 9.84037197e-01 1.77605596e-01 1.12715617e-02 1.16925019e+02] [-1.77593730e-01 9.84101749e-01 -2.05307027e-03 -1.91192365e+01] [-1.14570004e-02 1.85388213e-05 9.99934366e-01 -2.50167524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21862385300001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:116.95, Y:-19.13, Z:-2.50 [[ 9.84541384e-01 1.74830501e-01 1.06093448e-02 1.16952263e+02] [-1.74819838e-01 9.84598544e-01 -1.93150038e-03 -1.91251465e+01] [-1.07836306e-02 4.69181219e-05 9.99941854e-01 -2.49682422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24862385300001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:116.98, Y:-19.13, Z:-2.50 [[ 9.84854232e-01 1.73034515e-01 1.10090021e-02 1.16979088e+02] [-1.73022927e-01 9.84915759e-01 -2.00369040e-03 -1.91307829e+01] [-1.11896473e-02 6.85332039e-05 9.99937392e-01 -2.50304785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27862385300001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:117.01, Y:-19.14, Z:-2.50 [[ 9.85120989e-01 1.71531460e-01 1.06580725e-02 1.17005285e+02] [-1.71520517e-01 9.85178639e-01 -1.93923869e-03 -1.91364338e+01] [-1.08327458e-02 8.23066329e-05 9.99941321e-01 -2.50421475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:117.03, Y:-19.14, Z:-2.50 [[ 9.85540396e-01 1.69151572e-01 9.89310346e-03 1.17032920e+02] [-1.69142033e-01 9.85590044e-01 -1.79914404e-03 -1.91442145e+01] [-1.00548723e-02 9.97894893e-05 9.99949444e-01 -2.50492906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:117.06, Y:-19.15, Z:-2.51 [[ 9.85687822e-01 1.68305544e-01 9.63128074e-03 1.17060543e+02] [-1.68296467e-01 9.85734869e-01 -1.75118921e-03 -1.91502650e+01] [-9.78862412e-03 1.05215358e-04 9.99952085e-01 -2.50571267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:117.09, Y:-19.16, Z:-2.51 [[ 9.85693004e-01 1.68280249e-01 9.54254440e-03 1.17088686e+02] [-1.68271343e-01 9.85739188e-01 -1.73436852e-03 -1.91570223e+01] [-9.69831993e-03 1.03818155e-04 9.99952965e-01 -2.50618503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.398623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:117.12, Y:-19.16, Z:-2.51 [[ 9.85551737e-01 1.69097502e-01 9.68551149e-03 1.17115316e+02] [-1.69088371e-01 9.85599323e-01 -1.75997309e-03 -1.91634406e+01] [-9.84364063e-03 9.68371799e-05 9.99951546e-01 -2.50688437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:117.14, Y:-19.17, Z:-2.51 [[ 9.85356926e-01 1.70223466e-01 9.78261032e-03 1.17143873e+02] [-1.70214213e-01 9.85405482e-01 -1.77688835e-03 -1.91703461e+01] [-9.94230593e-03 8.57299200e-05 9.99950570e-01 -2.50703061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.458623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:117.17, Y:-19.18, Z:-2.51 [[ 9.85132430e-01 1.71522188e-01 9.70740418e-03 1.17172451e+02] [-1.71513145e-01 9.85180254e-01 -1.76276633e-03 -1.91764809e+01] [-9.86589646e-03 7.16108566e-05 9.99951328e-01 -2.50771699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:117.20, Y:-19.18, Z:-2.51 [[ 9.84641035e-01 1.74322457e-01 9.68057798e-03 1.17199598e+02] [-1.74313602e-01 9.84688620e-01 -1.75752575e-03 -1.91814143e+01] [-9.83873119e-03 4.30755549e-05 9.99951598e-01 -2.50826645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51862385300001 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:117.23, Y:-19.19, Z:-2.51 [[ 9.84184512e-01 1.76868091e-01 9.92595613e-03 1.17227511e+02] [-1.76858917e-01 9.84234564e-01 -1.80151783e-03 -1.91865739e+01] [-1.00881001e-02 1.75320898e-05 9.99949114e-01 -2.50912273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54862385300001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:117.26, Y:-19.19, Z:-2.51 [[ 9.83970764e-01 1.78043973e-01 1.00934821e-02 1.17255414e+02] [-1.78034558e-01 9.84022532e-01 -1.83097654e-03 -1.91921115e+01] [-1.02582082e-02 4.63875396e-06 9.99947383e-01 -2.50978347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57862385300001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:117.28, Y:-19.20, Z:-2.51 [[ 9.83753452e-01 1.79263450e-01 9.68308254e-03 1.17282856e+02] [-1.79254847e-01 9.83801106e-01 -1.75620226e-03 -1.91977894e+01] [-9.84105018e-03 -8.06944696e-06 9.99951576e-01 -2.50995897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60862385300001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:117.31, Y:-19.20, Z:-2.51 [[ 9.83218710e-01 1.82156097e-01 1.00062783e-02 1.17310490e+02] [-1.82147066e-01 9.83269625e-01 -1.81426881e-03 -1.92030599e+01] [-1.01693497e-02 -3.87912017e-05 9.99948290e-01 -2.51098100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:117.34, Y:-19.21, Z:-2.51 [[ 9.82915636e-01 1.83782342e-01 1.00450495e-02 1.17338727e+02] [-1.83773335e-01 9.82966962e-01 -1.82037214e-03 -1.92075221e+01] [-1.02085040e-02 -5.67399999e-05 9.99947890e-01 -2.51133888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66862385300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:117.37, Y:-19.21, Z:-2.51 [[ 9.82602745e-01 1.85436504e-01 1.02542492e-02 1.17365935e+02] [-1.85427212e-01 9.82656246e-01 -1.85790142e-03 -1.92119977e+01] [-1.04209247e-02 -7.58377996e-05 9.99945698e-01 -2.51181263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69862385300002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:117.39, Y:-19.22, Z:-2.51 [[ 9.82293465e-01 1.87046928e-01 1.06299198e-02 1.17392225e+02] [-1.87037044e-01 9.82350975e-01 -1.92530533e-03 -1.92160555e+01] [-1.08024345e-02 -9.69739286e-05 9.99941647e-01 -2.51221862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.728623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:117.42, Y:-19.22, Z:-2.51 [[ 9.82304097e-01 1.86991072e-01 1.06301133e-02 1.17420283e+02] [-1.86981197e-01 9.82361608e-01 -1.92423610e-03 -1.92209992e+01] [-1.08024302e-02 -9.74463026e-05 9.99941647e-01 -2.51276842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.758623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:117.45, Y:-19.22, Z:-2.51 [[ 9.81775025e-01 1.89693224e-01 1.15879447e-02 1.17447405e+02] [-1.89681684e-01 9.81843400e-01 -2.09701034e-03 -1.92245743e+01] [-1.17753357e-02 -1.39228480e-04 9.99930659e-01 -2.51349996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:117.47, Y:-19.23, Z:-2.51 [[ 9.81524965e-01 1.90969974e-01 1.17988486e-02 1.17474908e+02] [-1.90958115e-01 9.81595866e-01 -2.13411747e-03 -1.92286995e+01] [-1.19892534e-02 -1.58396311e-04 9.99928114e-01 -2.51499892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.818623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:117.50, Y:-19.23, Z:-2.52 [[ 9.81522411e-01 1.90991684e-01 1.16590641e-02 1.17501082e+02] [-1.90980114e-01 9.81591642e-01 -2.10808969e-03 -1.92328572e+01] [-1.18470674e-02 -1.57512109e-04 9.99929809e-01 -2.51568806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.53, Y:-19.24, Z:-2.52 [[ 9.81602250e-01 1.90597926e-01 1.13777416e-02 1.17527831e+02] [-1.90586893e-01 9.81668176e-01 -2.05628216e-03 -1.92369444e+01] [-1.15610900e-02 -1.49997234e-04 9.99933157e-01 -2.51667757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87862385300001 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:117.56, Y:-19.24, Z:-2.52 [[ 9.81675344e-01 1.90211046e-01 1.15445784e-02 1.17555745e+02] [-1.90199672e-01 9.81743213e-01 -2.08537689e-03 -1.92410936e+01] [-1.17304732e-02 -1.48611948e-04 9.99931185e-01 -2.51711115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90862385300001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:117.58, Y:-19.24, Z:-2.52 [[ 9.81902912e-01 1.89026866e-01 1.16410697e-02 1.17583598e+02] [-1.89015227e-01 9.81971907e-01 -2.10201272e-03 -1.92448616e+01] [-1.18285403e-02 -1.36367027e-04 9.99930031e-01 -2.51790747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93862385300001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:117.61, Y:-19.25, Z:-2.52 [[ 9.82043733e-01 1.88276935e-01 1.19122961e-02 1.17610105e+02] [-1.88264703e-01 9.82115970e-01 -2.15015059e-03 -1.92496865e+01] [-1.21040800e-02 -1.31122967e-04 9.99926734e-01 -2.51920588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:117.64, Y:-19.25, Z:-2.52 [[ 9.82350282e-01 1.86614729e-01 1.27619363e-02 1.17637456e+02] [-1.86600566e-01 9.82433167e-01 -2.30220325e-03 -1.92544644e+01] [-1.29673745e-02 -1.19814525e-04 9.99915913e-01 -2.51888786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99862385300001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:117.66, Y:-19.26, Z:-2.52 [[ 9.82539963e-01 1.85572218e-01 1.33481435e-02 1.17663622e+02] [-1.85556641e-01 9.82630622e-01 -2.40697242e-03 -1.92587653e+01] [-1.35629618e-02 -1.11890083e-04 9.99908013e-01 -2.51910963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02862385300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:117.69, Y:-19.26, Z:-2.52 [[ 9.82716356e-01 1.84573092e-01 1.41893253e-02 1.17690907e+02] [-1.84555406e-01 9.82818784e-01 -2.55727096e-03 -1.92636527e+01] [-1.44175388e-02 -1.05644681e-04 9.99896056e-01 -2.51993299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:117.72, Y:-19.27, Z:-2.52 [[ 9.83139088e-01 1.82282570e-01 1.45120102e-02 1.17719820e+02] [-1.82263837e-01 9.83246184e-01 -2.61430784e-03 -1.92683849e+01] [-1.47454214e-02 -7.47864289e-05 9.99891278e-01 -2.51997792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:117.75, Y:-19.27, Z:-2.52 [[ 9.83295180e-01 1.81426004e-01 1.46694803e-02 1.17748510e+02] [-1.81406778e-01 9.83404597e-01 -2.64195231e-03 -1.92728184e+01] [-1.49053532e-02 -6.33241823e-05 9.99888907e-01 -2.52042231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.118623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:117.78, Y:-19.28, Z:-2.52 [[ 9.83502522e-01 1.80288229e-01 1.47967242e-02 1.17776907e+02] [-1.80268550e-01 9.83613823e-01 -2.66414401e-03 -1.92769559e+01] [-1.50345763e-02 -4.71916607e-05 9.99886973e-01 -2.52135947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:117.81, Y:-19.28, Z:-2.52 [[ 9.83757915e-01 1.78897594e-01 1.46974968e-02 1.17805185e+02] [-1.78878033e-01 9.83867700e-01 -2.64557871e-03 -1.92813113e+01] [-1.49336800e-02 -2.64503179e-05 9.99888486e-01 -2.52199965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.178623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:117.83, Y:-19.29, Z:-2.52 [[ 9.83846454e-01 1.78448914e-01 1.42175821e-02 1.17832337e+02] [-1.78430572e-01 9.83949178e-01 -2.55857574e-03 -1.92861053e+01] [-1.44459533e-02 -1.96056393e-05 9.99895652e-01 -2.51879192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:117.86, Y:-19.29, Z:-2.52 [[ 9.84094027e-01 1.77062919e-01 1.44107376e-02 1.17860308e+02] [-1.77043941e-01 9.84199534e-01 -2.59237755e-03 -1.92907154e+01] [-1.46420552e-02 -1.90515058e-07 9.99892799e-01 -2.52341713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.238623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:117.89, Y:-19.30, Z:-2.52 [[ 9.84200666e-01 1.76437475e-01 1.47941299e-02 1.17888137e+02] [-1.76417413e-01 9.84311850e-01 -2.66064065e-03 -1.92955628e+01] [-1.50314741e-02 8.66217490e-06 9.99887021e-01 -2.52425423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.92, Y:-19.30, Z:-2.52 [[ 9.84278068e-01 1.75990883e-01 1.49631193e-02 1.17916530e+02] [-1.75970323e-01 9.84391796e-01 -2.69004967e-03 -1.93000312e+01] [-1.52029961e-02 1.46919547e-05 9.99884428e-01 -2.52496040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:117.94, Y:-19.30, Z:-2.53 [[ 9.84242806e-01 1.76100717e-01 1.59573395e-02 1.17944677e+02] [-1.76077363e-01 9.84372154e-01 -2.86795900e-03 -1.93039890e+01] [-1.62130103e-02 1.30417646e-05 9.99868560e-01 -2.52544658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32862385300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:117.97, Y:-19.31, Z:-2.53 [[ 9.84166956e-01 1.76527781e-01 1.59167906e-02 1.17971907e+02] [-1.76504613e-01 9.84295658e-01 -2.85992064e-03 -1.93082103e+01] [-1.61716833e-02 5.25242171e-06 9.99869230e-01 -2.52564195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35862385300001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:118.00, Y:-19.31, Z:-2.53 [[ 9.83911629e-01 1.77944242e-01 1.59296486e-02 1.18000425e+02] [-1.77921240e-01 9.84040572e-01 -2.86109198e-03 -1.93126110e+01] [-1.61845354e-02 -1.91611680e-05 9.99869022e-01 -2.52656708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38862385300001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.03, Y:-19.32, Z:-2.53 [[ 9.83736329e-01 1.78922025e-01 1.58032921e-02 1.18028719e+02] [-1.78899525e-01 9.83863257e-01 -2.83762843e-03 -1.93167662e+01] [-1.60559926e-02 -3.57232725e-05 9.99871094e-01 -2.52731994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.06, Y:-19.32, Z:-2.53 [[ 9.83488023e-01 1.80318243e-01 1.53830937e-02 1.18056316e+02] [-1.80297106e-01 9.83608320e-01 -2.76149350e-03 -1.93209524e+01] [-1.56288866e-02 -5.76314823e-05 9.99877860e-01 -2.52763612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:118.08, Y:-19.32, Z:-2.53 [[ 9.82880710e-01 1.83611361e-01 1.52439714e-02 1.18084122e+02] [-1.83591016e-01 9.82998909e-01 -2.73549072e-03 -1.93236012e+01] [-1.54870744e-02 -1.09995132e-04 9.99880062e-01 -2.52836473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.478623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:118.11, Y:-19.33, Z:-2.53 [[ 9.82634131e-01 1.84920938e-01 1.53104750e-02 1.18111537e+02] [-1.84900589e-01 9.82753392e-01 -2.74646607e-03 -1.93265505e+01] [-1.55543003e-02 -1.32144550e-04 9.99879016e-01 -2.52913439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.14, Y:-19.33, Z:-2.53 [[ 9.82345432e-01 1.86467478e-01 1.50775116e-02 1.18138352e+02] [-1.86447940e-01 9.82461122e-01 -2.70372705e-03 -1.93295427e+01] [-1.53172261e-02 -1.55177062e-04 9.99882672e-01 -2.52975129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.538623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:118.17, Y:-19.33, Z:-2.53 [[ 9.82100548e-01 1.87748865e-01 1.51286585e-02 1.18166419e+02] [-1.87729373e-01 9.82217049e-01 -2.71115531e-03 -1.93323136e+01] [-1.53686427e-02 -1.77466460e-04 9.99881880e-01 -2.53040100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.19, Y:-19.33, Z:-2.53 [[ 9.81704290e-01 1.89767787e-01 1.56484780e-02 1.18193440e+02] [-1.89747207e-01 9.81828977e-01 -2.80314567e-03 -1.93332775e+01] [-1.58960759e-02 -2.17394864e-04 9.99873626e-01 -2.53152283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.598623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.22, Y:-19.34, Z:-2.53 [[ 9.81584391e-01 1.90392499e-01 1.55814159e-02 1.18221559e+02] [-1.90372195e-01 9.81708024e-01 -2.78976811e-03 -1.93365435e+01] [-1.58275519e-02 -2.27875514e-04 9.99874710e-01 -2.53233518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:118.25, Y:-19.34, Z:-2.53 [[ 9.81493970e-01 1.90886783e-01 1.52257589e-02 1.18249065e+02] [-1.90867470e-01 9.81612033e-01 -2.72511839e-03 -1.93368357e+01] [-1.54659773e-02 -2.31414824e-04 9.99880368e-01 -2.53331179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.28, Y:-19.34, Z:-2.53 [[ 9.81562944e-01 1.90524449e-01 1.53173276e-02 1.18277044e+02] [-1.90504886e-01 9.81682424e-01 -2.73977840e-03 -1.93397182e+01] [-1.55587460e-02 -2.28760792e-04 9.99878929e-01 -2.53388546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.30, Y:-19.34, Z:-2.53 [[ 9.81827861e-01 1.89156901e-01 1.52878539e-02 1.18304525e+02] [-1.89137264e-01 9.81946854e-01 -2.73340864e-03 -1.93400580e+01] [-1.55289032e-02 -2.07766109e-04 9.99879398e-01 -2.53410395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.33, Y:-19.34, Z:-2.53 [[ 9.82004476e-01 1.88232895e-01 1.53488273e-02 1.18332958e+02] [-1.88213011e-01 9.82124401e-01 -2.74291747e-03 -1.93418026e+01] [-1.55907651e-02 -1.95291772e-04 9.99878438e-01 -2.53405566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.36, Y:-19.34, Z:-2.53 [[ 9.82216715e-01 1.87104100e-01 1.55685822e-02 1.18361531e+02] [-1.87083519e-01 9.82340075e-01 -2.78102912e-03 -1.93437658e+01] [-1.58139842e-02 -1.81051857e-04 9.99874935e-01 -2.53469050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:118.39, Y:-19.34, Z:-2.54 [[ 9.82823364e-01 1.83794341e-01 1.66696173e-02 1.18388812e+02] [-1.83770291e-01 9.82964710e-01 -2.97639630e-03 -1.93447140e+01] [-1.69326903e-02 -1.38108598e-04 9.99856622e-01 -2.53533855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80862385300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.42, Y:-19.35, Z:-2.54 [[ 9.83202248e-01 1.81741137e-01 1.68374172e-02 1.18415386e+02] [-1.81716323e-01 9.83346403e-01 -3.00496240e-03 -1.93483507e+01] [-1.71031389e-02 -1.05147748e-04 9.99853725e-01 -2.53569333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:118.44, Y:-19.35, Z:-2.54 [[ 9.84179625e-01 1.76283081e-01 1.77409450e-02 1.18443505e+02] [-1.76254686e-01 9.84339512e-01 -3.16391768e-03 -1.93504239e+01] [-1.80208583e-02 -1.30613669e-05 9.99837611e-01 -2.53641391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.47, Y:-19.35, Z:-2.54 [[ 9.84718382e-01 1.73267075e-01 1.75564236e-02 1.18470740e+02] [-1.73238810e-01 9.84874875e-01 -3.12977853e-03 -1.93538513e+01] [-1.78331680e-02 4.04965230e-05 9.99840976e-01 -2.53726849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.50, Y:-19.36, Z:-2.54 [[ 9.85319354e-01 1.69798670e-01 1.77251724e-02 1.18498753e+02] [-1.69769325e-01 9.85478767e-01 -3.15835801e-03 -1.93574519e+01] [-1.80040660e-02 1.02800720e-04 9.99837908e-01 -2.53794344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:118.53, Y:-19.36, Z:-2.53 [[ 9.85868941e-01 1.66674026e-01 1.67987942e-02 1.18525850e+02] [-1.66647234e-01 9.86012042e-01 -2.99216090e-03 -1.93619324e+01] [-1.70625289e-02 1.50405911e-04 9.99854413e-01 -2.53423485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.958623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:118.55, Y:-19.37, Z:-2.53 [[ 9.86908431e-01 1.60493029e-01 1.59291247e-02 1.18554707e+02] [-1.60468156e-01 9.87036944e-01 -2.83588122e-03 -1.93664511e+01] [-1.61777737e-02 2.42637827e-04 9.99869102e-01 -2.53277186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:118.58, Y:-19.37, Z:-2.54 [[ 9.87392114e-01 1.57450599e-01 1.63132503e-02 1.18581910e+02] [-1.57424109e-01 9.87526820e-01 -2.90349525e-03 -1.93705394e+01] [-1.65669292e-02 2.98789430e-04 9.99862714e-01 -2.54107554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.61, Y:-19.38, Z:-2.54 [[ 9.87982001e-01 1.53720881e-01 1.61696380e-02 1.18610494e+02] [-1.53694375e-01 9.88114246e-01 -2.87678904e-03 -1.93760796e+01] [-1.64196722e-02 3.57033388e-04 9.99865124e-01 -2.54182375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:118.64, Y:-19.38, Z:-2.54 [[ 9.88176922e-01 1.52436524e-01 1.64157715e-02 1.18637955e+02] [-1.52409041e-01 9.88313189e-01 -2.91978574e-03 -1.93810573e+01] [-1.66690055e-02 3.83352899e-04 9.99860989e-01 -2.54242007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07862385300001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:118.67, Y:-19.39, Z:-2.54 [[ 9.88256462e-01 1.51861341e-01 1.69498573e-02 1.18666104e+02] [-1.51831975e-01 9.88401725e-01 -3.01367088e-03 -1.93857486e+01] [-1.72109283e-02 4.04749413e-04 9.99851799e-01 -2.54259053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.69, Y:-19.39, Z:-2.54 [[ 9.88255966e-01 1.51846501e-01 1.71109688e-02 1.18694371e+02] [-1.51816585e-01 9.88404003e-01 -3.04152912e-03 -1.93907365e+01] [-1.73743956e-02 4.08080445e-04 9.99848971e-01 -2.54275158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.72, Y:-19.40, Z:-2.54 [[ 9.88189412e-01 1.52301062e-01 1.69136852e-02 1.18721452e+02] [-1.52271912e-01 9.88334068e-01 -3.00567284e-03 -1.93961720e+01] [-1.71741385e-02 3.94694905e-04 9.99852436e-01 -2.54304001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16862385300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.75, Y:-19.40, Z:-2.54 [[ 9.88096021e-01 1.52894333e-01 1.70169388e-02 1.18749931e+02] [-1.52864932e-01 9.88242467e-01 -3.02295874e-03 -1.94018010e+01] [-1.72790548e-02 3.85680314e-04 9.99850632e-01 -2.54360632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.78, Y:-19.41, Z:-2.54 [[ 9.87802219e-01 1.54828442e-01 1.65809930e-02 1.18778368e+02] [-1.54800814e-01 9.87941312e-01 -2.94475687e-03 -1.94078161e+01] [-1.68369801e-02 3.42086163e-04 9.99858189e-01 -2.54384166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.228623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.81, Y:-19.41, Z:-2.54 [[ 9.87645716e-01 1.55856181e-01 1.62723612e-02 1.18806074e+02] [-1.55829724e-01 9.87779707e-01 -2.88919897e-03 -1.94127305e+01] [-1.65238077e-02 3.17787450e-04 9.99863422e-01 -2.54402975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.258623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:118.83, Y:-19.42, Z:-2.54 [[ 9.87253643e-01 1.58261803e-01 1.68358370e-02 1.18834016e+02] [-1.58233849e-01 9.87397144e-01 -2.98815263e-03 -1.94178856e+01] [-1.70965678e-02 2.86065278e-04 9.99853802e-01 -2.54453040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.86, Y:-19.42, Z:-2.55 [[ 9.87032922e-01 1.59577221e-01 1.73528697e-02 1.18861919e+02] [-1.59547742e-01 9.87185412e-01 -3.07904316e-03 -1.94239084e+01] [-1.76218450e-02 2.70505776e-04 9.99844687e-01 -2.54555441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.318623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.89, Y:-19.43, Z:-2.55 [[ 9.86795793e-01 1.61051871e-01 1.72150610e-02 1.18889310e+02] [-1.61023098e-01 9.86945914e-01 -3.05375723e-03 -1.94298823e+01] [-1.74821474e-02 2.41412332e-04 9.99847146e-01 -2.54617258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:118.92, Y:-19.44, Z:-2.55 [[ 9.86222740e-01 1.64555892e-01 1.69134835e-02 1.18917910e+02] [-1.64528652e-01 9.86367745e-01 -2.99919821e-03 -1.94359142e+01] [-1.71764503e-02 1.75124850e-04 9.99852459e-01 -2.54710147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.94, Y:-19.44, Z:-2.55 [[ 9.85951519e-01 1.66267127e-01 1.59638563e-02 1.18944827e+02] [-1.66243096e-01 9.86080739e-01 -2.83010431e-03 -1.94410643e+01] [-1.62122045e-02 1.36464754e-04 9.99868564e-01 -2.54797421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.97, Y:-19.45, Z:-2.55 [[ 9.85674741e-01 1.67904466e-01 1.59183909e-02 1.18971937e+02] [-1.67880800e-01 9.85803266e-01 -2.82110714e-03 -1.94461724e+01] [-1.61660782e-02 1.08301855e-04 9.99869315e-01 -2.54878520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:-19.45, Z:-2.55 [[ 9.85031092e-01 1.71617262e-01 1.61636465e-02 1.18998861e+02] [-1.71593380e-01 9.85163699e-01 -2.86336774e-03 -1.94510218e+01] [-1.64152411e-02 4.69315256e-05 9.99865260e-01 -2.54964398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.03, Y:-19.46, Z:-2.55 [[ 9.84717505e-01 1.73329900e-01 1.69758785e-02 1.19025549e+02] [-1.73303839e-01 9.84863821e-01 -3.00567716e-03 -1.94550183e+01] [-1.72399023e-02 1.77579986e-05 9.99851382e-01 -2.55028793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.05, Y:-19.46, Z:-2.55 [[ 9.83920443e-01 1.77741377e-01 1.75660115e-02 1.19053322e+02] [-1.77714203e-01 9.84077232e-01 -3.10856031e-03 -1.94594212e+01] [-1.78388318e-02 -6.31537068e-05 9.99840873e-01 -2.54963625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.08, Y:-19.46, Z:-2.55 [[ 9.83545759e-01 1.79742559e-01 1.81756033e-02 1.19080054e+02] [-1.79713834e-01 9.83713679e-01 -3.21501290e-03 -1.94643594e+01] [-1.84574642e-02 -1.04295046e-04 9.99829641e-01 -2.55057402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55862385300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:119.11, Y:-19.47, Z:-2.55 [[ 9.83289834e-01 1.81132342e-01 1.82257560e-02 1.19106513e+02] [-1.81103726e-01 9.83458722e-01 -3.22226289e-03 -1.94688799e+01] [-1.85079347e-02 -1.32333974e-04 9.99828705e-01 -2.55060658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.13, Y:-19.47, Z:-2.55 [[ 9.83060719e-01 1.82286360e-01 1.90605796e-02 1.19133475e+02] [-1.82255314e-01 9.83245471e-01 -3.36809992e-03 -1.94734031e+01] [-1.93551873e-02 -1.62845197e-04 9.99812658e-01 -2.55104395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.16, Y:-19.48, Z:-2.55 [[ 9.83071438e-01 1.82228513e-01 1.90608632e-02 1.19161551e+02] [-1.82197487e-01 9.83256194e-01 -3.36649459e-03 -1.94782324e+01] [-1.93551831e-02 -1.63336699e-04 9.99812658e-01 -2.55159377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.19, Y:-19.48, Z:-2.55 [[ 9.83054983e-01 1.82267588e-01 1.95301562e-02 1.19189104e+02] [-1.82235047e-01 9.83248950e-01 -3.44816067e-03 -1.94834470e+01] [-1.98314935e-02 -1.69347408e-04 9.99803322e-01 -2.55211836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.22, Y:-19.49, Z:-2.55 [[ 9.83130829e-01 1.81832150e-01 1.97697364e-02 1.19216306e+02] [-1.81798747e-01 9.83329570e-01 -3.48899789e-03 -1.94885901e+01] [-2.00745783e-02 -1.63971906e-04 9.99798472e-01 -2.55291067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.24, Y:-19.49, Z:-2.55 [[ 9.83409935e-01 1.80355972e-01 1.94067729e-02 1.19243802e+02] [-1.80323525e-01 9.83601396e-01 -3.42354929e-03 -1.94935344e+01] [-1.97059865e-02 -1.32745315e-04 9.99805809e-01 -2.55394718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:-19.50, Z:-2.55 [[ 9.83638768e-01 1.79186301e-01 1.86291290e-02 1.19270841e+02] [-1.79156217e-01 9.83815155e-01 -3.28503257e-03 -1.94982662e+01] [-1.89162523e-02 -1.06238897e-04 9.99821066e-01 -2.55498054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.30, Y:-19.50, Z:-2.56 [[ 9.84142777e-01 1.76510065e-01 1.75268756e-02 1.19297224e+02] [-1.76483037e-01 9.84298834e-01 -3.08924018e-03 -1.95047563e+01] [-1.77969652e-02 -5.29428301e-05 9.99841620e-01 -2.55684015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.32, Y:-19.51, Z:-2.56 [[ 9.84332007e-01 1.75458985e-01 1.74540462e-02 1.19324407e+02] [-1.75432043e-01 9.84486741e-01 -3.07488549e-03 -1.95107355e+01] [-1.77227934e-02 -3.52907782e-05 9.99842938e-01 -2.55757928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.35, Y:-19.52, Z:-2.56 [[ 9.84549302e-01 1.74258322e-01 1.72252715e-02 1.19351697e+02] [-1.74231919e-01 9.84699973e-01 -3.03334953e-03 -1.95159800e+01] [-1.74903108e-02 -1.47099522e-05 9.99847033e-01 -2.55781870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.38, Y:-19.52, Z:-2.56 [[ 9.84724920e-01 1.73229244e-01 1.75630257e-02 1.19379531e+02] [-1.73201656e-01 9.84881530e-01 -3.09153042e-03 -1.95211878e+01] [-1.78330432e-02 2.36190148e-06 9.99840979e-01 -2.55849389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:-19.53, Z:-2.56 [[ 9.85099753e-01 1.70998185e-01 1.83874387e-02 1.19405487e+02] [-1.70967582e-01 9.85271343e-01 -3.23525471e-03 -1.95267775e+01] [-1.86698391e-02 4.33926833e-05 9.99825702e-01 -2.55888825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.43, Y:-19.53, Z:-2.56 [[ 9.85257567e-01 1.70105356e-01 1.82124709e-02 1.19433838e+02] [-1.70075209e-01 9.85425880e-01 -3.20292077e-03 -1.95328865e+01] [-1.84918741e-02 5.82121310e-05 9.99829009e-01 -2.55934842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.46, Y:-19.54, Z:-2.56 [[ 9.85683489e-01 1.67645794e-01 1.79707066e-02 1.19462047e+02] [-1.67616049e-01 9.85847289e-01 -3.15955557e-03 -1.95393437e+01] [-1.82460586e-02 1.02142912e-04 9.99833522e-01 -2.56045089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.978623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:-19.55, Z:-2.56 [[ 9.85858377e-01 1.66654047e-01 1.75979782e-02 1.19489185e+02] [-1.66625380e-01 9.86015423e-01 -3.09321880e-03 -1.95450718e+01] [-1.78673754e-02 1.17205859e-04 9.99840359e-01 -2.56091124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.52, Y:-19.55, Z:-2.56 [[ 9.86019249e-01 1.65735162e-01 1.72597051e-02 1.19517783e+02] [-1.65707463e-01 9.86170289e-01 -3.03274041e-03 -1.95511633e+01] [-1.75236401e-02 1.30278478e-04 9.99846441e-01 -2.56168610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.038623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.55, Y:-19.56, Z:-2.56 [[ 9.86273802e-01 1.64266863e-01 1.67446859e-02 1.19545981e+02] [-1.64240594e-01 9.86415924e-01 -2.94148675e-03 -1.95594158e+01] [-1.70004136e-02 1.50954161e-04 9.99855471e-01 -2.56284498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:119.57, Y:-19.57, Z:-2.56 [[ 9.86411003e-01 1.63464734e-01 1.65110562e-02 1.19573041e+02] [-1.63439093e-01 9.86549165e-01 -2.89965882e-03 -1.95657425e+01] [-1.67629606e-02 1.61703312e-04 9.99859479e-01 -2.56300023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.60, Y:-19.57, Z:-2.56 [[ 9.86531717e-01 1.62702241e-01 1.68271072e-02 1.19601464e+02] [-1.62675518e-01 9.86675200e-01 -2.95406077e-03 -1.95732168e+01] [-1.70835217e-02 1.76916262e-04 9.99854050e-01 -2.56331874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.63, Y:-19.58, Z:-2.56 [[ 9.86559339e-01 1.62521563e-01 1.69532388e-02 1.19630130e+02] [-1.62494426e-01 9.86704976e-01 -2.97536415e-03 -1.95788226e+01] [-1.72114059e-02 1.80566484e-04 9.99851856e-01 -2.56354551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.15862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:-19.58, Z:-2.56 [[ 9.86486802e-01 1.62955096e-01 1.70125075e-02 1.19657759e+02] [-1.62927847e-01 9.86633471e-01 -2.98494996e-03 -1.95849485e+01] [-1.72715221e-02 1.72802528e-04 9.99850821e-01 -2.56425149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18862385300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.69, Y:-19.59, Z:-2.56 [[ 9.86141904e-01 1.65083047e-01 1.64843049e-02 1.19685681e+02] [-1.65057777e-01 9.86279661e-01 -2.89127385e-03 -1.95921612e+01] [-1.67354349e-02 1.30343568e-04 9.99859944e-01 -2.55661492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.71, Y:-19.60, Z:-2.56 [[ 9.85861065e-01 1.66654728e-01 1.74402478e-02 1.19714173e+02] [-1.66626704e-01 9.86015309e-01 -3.05804463e-03 -1.95981736e+01] [-1.77059889e-02 1.08796126e-04 9.99843231e-01 -2.56498540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.74, Y:-19.60, Z:-2.57 [[ 9.85104591e-01 1.71105911e-01 1.70795894e-02 1.19741693e+02] [-1.71079717e-01 9.85252641e-01 -2.99402166e-03 -1.96038219e+01] [-1.73400054e-02 2.74531679e-05 9.99849650e-01 -2.56537239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.77, Y:-19.61, Z:-2.57 [[ 9.84708134e-01 1.73334952e-01 1.74609815e-02 1.19769205e+02] [-1.73307944e-01 9.84862932e-01 -3.05980123e-03 -1.96084576e+01] [-1.77270439e-02 -1.31156485e-05 9.99842864e-01 -2.56602915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.80, Y:-19.61, Z:-2.57 [[ 9.84265004e-01 1.75841266e-01 1.73853507e-02 1.19798157e+02] [-1.75814900e-01 9.84418532e-01 -3.04550225e-03 -1.96128729e+01] [-1.76499864e-02 -5.90224124e-05 9.99844225e-01 -2.56650925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.83, Y:-19.62, Z:-2.57 [[ 9.83290467e-01 1.81253341e-01 1.69435394e-02 1.19826150e+02] [-1.81229115e-01 9.83436425e-01 -2.96731566e-03 -1.96166431e+01] [-1.72007297e-02 -1.52929452e-04 9.99852045e-01 -2.56750478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.85, Y:-19.62, Z:-2.57 [[ 9.82847772e-01 1.83653104e-01 1.67867100e-02 1.19853799e+02] [-1.83629691e-01 9.82991098e-01 -2.93884860e-03 -1.96207077e+01] [-1.70409152e-02 -1.94097586e-04 9.99854774e-01 -2.56847468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.88, Y:-19.62, Z:-2.57 [[ 9.82414510e-01 1.86002585e-01 1.62717536e-02 1.19880682e+02] [-1.85980927e-01 9.82549228e-01 -2.84756945e-03 -1.96245630e+01] [-1.65174542e-02 -2.28742273e-04 9.99863551e-01 -2.56903787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.91, Y:-19.63, Z:-2.57 [[ 9.81829873e-01 1.89108305e-01 1.57527873e-02 1.19908988e+02] [-1.89088427e-01 9.81956198e-01 -2.75539983e-03 -1.96272848e+01] [-1.59896161e-02 -2.73335924e-04 9.99872121e-01 -2.57015921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.94, Y:-19.63, Z:-2.57 [[ 9.81674099e-01 1.89914948e-01 1.57567995e-02 1.19936863e+02] [-1.89895182e-01 9.81800504e-01 -2.75499458e-03 -1.96309258e+01] [-1.59932484e-02 -2.87633485e-04 9.99872058e-01 -2.57066649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.96, Y:-19.63, Z:-2.57 [[ 9.81598240e-01 1.90290659e-01 1.59486781e-02 1.19964933e+02] [-1.90270477e-01 9.81727750e-01 -2.78741749e-03 -1.96346508e+01] [-1.61876794e-02 -2.98438486e-04 9.99868926e-01 -2.57123608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.51862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:-19.64, Z:-2.57 [[ 9.81707788e-01 1.89691579e-01 1.63378006e-02 1.19993229e+02] [-1.89670336e-01 9.81843682e-01 -2.85426329e-03 -1.96368366e+01] [-1.65825960e-02 -2.96743627e-04 9.99862455e-01 -2.57175961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:-19.64, Z:-2.57 [[ 9.81819639e-01 1.89097255e-01 1.65052664e-02 1.20020840e+02] [-1.89075510e-01 9.81958321e-01 -2.88231666e-03 -1.96404347e+01] [-1.67525218e-02 -2.90826560e-04 9.99859624e-01 -2.57219356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.05, Y:-19.64, Z:-2.57 [[ 9.82149346e-01 1.87336808e-01 1.69582664e-02 1.20048834e+02] [-1.87313613e-01 9.82295703e-01 -2.96016268e-03 -1.96429453e+01] [-1.72125796e-02 -2.69192297e-04 9.99851816e-01 -2.57248931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:-19.65, Z:-2.57 [[ 9.82402691e-01 1.85993156e-01 1.70733556e-02 1.20077069e+02] [-1.85969464e-01 9.82551008e-01 -2.97900887e-03 -1.96464992e+01] [-1.73295180e-02 -2.48536451e-04 9.99849802e-01 -2.57326316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.10, Y:-19.65, Z:-2.57 [[ 9.82633804e-01 1.84814105e-01 1.65696921e-02 1.20104258e+02] [-1.84791641e-01 9.82773472e-01 -2.88998802e-03 -1.96499015e+01] [-1.68183644e-02 -2.22140675e-04 9.99858537e-01 -2.56745171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.13, Y:-19.65, Z:-2.57 [[ 9.83166858e-01 1.81959057e-01 1.65478422e-02 1.20131635e+02] [-1.81936271e-01 9.83306092e-01 -2.88477278e-03 -1.96513729e+01] [-1.67965046e-02 -1.74439718e-04 9.99858914e-01 -2.57451887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:-19.65, Z:-2.58 [[ 9.83457221e-01 1.80388486e-01 1.64890578e-02 1.20159968e+02] [-1.80365665e-01 9.83595431e-01 -2.87311296e-03 -1.96542985e+01] [-1.67368384e-02 -1.48476192e-04 9.99859918e-01 -2.57511225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.728623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:-19.66, Z:-2.58 [[ 9.83781085e-01 1.78593127e-01 1.67114017e-02 1.20188233e+02] [-1.78569448e-01 9.83923005e-01 -2.91062565e-03 -1.96576917e+01] [-1.69625504e-02 -1.20727327e-04 9.99856118e-01 -2.57632732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:-19.66, Z:-2.58 [[ 9.84552451e-01 1.74316243e-01 1.64413730e-02 1.20214578e+02] [-1.74292745e-01 9.84689720e-01 -2.86245927e-03 -1.96608734e+01] [-1.66886242e-02 -4.73707518e-05 9.99860734e-01 -2.57664556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.24, Y:-19.67, Z:-2.58 [[ 9.84964898e-01 1.71949816e-01 1.66556262e-02 1.20241666e+02] [-1.71925388e-01 9.85105710e-01 -2.89833821e-03 -1.96651323e+01] [-1.69059212e-02 -8.76358183e-06 9.99857085e-01 -2.57726139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:-19.67, Z:-2.58 [[ 9.85731774e-01 1.67467398e-01 1.69569977e-02 1.20269934e+02] [-1.67441439e-01 9.85877612e-01 -2.94931303e-03 -1.96685384e+01] [-1.72114382e-02 6.79274805e-05 9.99851870e-01 -2.57676179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.30, Y:-19.67, Z:-2.58 [[ 9.86091966e-01 1.65310459e-01 1.71780930e-02 1.20298082e+02] [-1.65283513e-01 9.86241573e-01 -2.98653028e-03 -1.96728477e+01] [-1.74354542e-02 1.05737948e-04 9.99847985e-01 -2.57712422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.87862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:-19.68, Z:-2.58 [[ 9.86446601e-01 1.63149753e-01 1.74717322e-02 1.20326111e+02] [-1.63121561e-01 9.86601306e-01 -3.03632804e-03 -1.96773096e+01] [-1.77330100e-02 1.45159240e-04 9.99842747e-01 -2.57775007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:-19.68, Z:-2.58 [[ 9.87111049e-01 1.59095230e-01 1.73345235e-02 1.20353143e+02] [-1.59066875e-01 9.87263218e-01 -3.01125752e-03 -1.96815704e+01] [-1.75928142e-02 2.15097081e-04 9.99845211e-01 -2.57823190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:-19.69, Z:-2.58 [[ 9.87363506e-01 1.57522707e-01 1.73177169e-02 1.20380467e+02] [-1.57494183e-01 9.87515336e-01 -3.00733770e-03 -1.96866790e+01] [-1.75752350e-02 2.41895826e-04 9.99845514e-01 -2.57887005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.41, Y:-19.69, Z:-2.58 [[ 9.87698846e-01 1.55479768e-01 1.66442354e-02 1.20408661e+02] [-1.55453145e-01 9.87839041e-01 -2.88945204e-03 -1.96929502e+01] [-1.68910769e-02 2.66509711e-04 9.99857300e-01 -2.57906460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:-19.70, Z:-2.58 [[ 9.87783855e-01 1.55015149e-01 1.59172494e-02 1.20437273e+02] [-1.54990753e-01 9.87912058e-01 -2.76250546e-03 -1.96983496e+01] [-1.61530728e-02 2.61731813e-04 9.99869496e-01 -2.57961219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:-19.70, Z:-2.58 [[ 9.87801306e-01 1.54950869e-01 1.54534457e-02 1.20464854e+02] [-1.54927877e-01 9.87922144e-01 -2.68131039e-03 -1.97029168e+01] [-1.56822726e-02 2.54432362e-04 9.99876993e-01 -2.58099372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:120.49, Y:-19.71, Z:-2.58 [[ 9.87684127e-01 1.55785972e-01 1.45187912e-02 1.20493536e+02] [-1.55765781e-01 9.87790808e-01 -2.51824854e-03 -1.97074981e+01] [-1.47338363e-02 2.25703271e-04 9.99891426e-01 -2.57885382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:120.52, Y:-19.71, Z:-2.58 [[ 9.87561531e-01 1.56607609e-01 1.40099764e-02 1.20521041e+02] [-1.56588899e-01 9.87660880e-01 -2.42941534e-03 -1.97121933e+01] [-1.42175706e-02 2.05390354e-04 9.99898904e-01 -2.57597874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.55, Y:-19.72, Z:-2.58 [[ 9.87460804e-01 1.57221521e-01 1.42321230e-02 1.20548193e+02] [-1.57202289e-01 9.87563342e-01 -2.46712202e-03 -1.97165493e+01] [-1.44430076e-02 1.98863988e-04 9.99895675e-01 -2.58364146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:-19.72, Z:-2.58 [[ 9.87264335e-01 1.58458511e-01 1.41433346e-02 1.20575325e+02] [-1.58439659e-01 9.87365620e-01 -2.45072557e-03 -1.97214670e+01] [-1.43529807e-02 1.78648844e-04 9.99896975e-01 -2.58474955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.60, Y:-19.73, Z:-2.58 [[ 9.87202555e-01 1.58835578e-01 1.42258464e-02 1.20603513e+02] [-1.58816561e-01 9.87305034e-01 -2.46388783e-03 -1.97262471e+01] [-1.44366028e-02 1.73056361e-04 9.99895772e-01 -2.58488950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.63, Y:-19.73, Z:-2.59 [[ 9.87174783e-01 1.58964873e-01 1.47009039e-02 1.20631088e+02] [-1.58944589e-01 9.87284224e-01 -2.54546154e-03 -1.97311826e+01] [-1.49186094e-02 1.76186314e-04 9.99888696e-01 -2.58578232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.66, Y:-19.74, Z:-2.59 [[ 9.87183169e-01 1.58916587e-01 1.46598085e-02 1.20659386e+02] [-1.58896426e-01 9.87291997e-01 -2.53739536e-03 -1.97364062e+01] [-1.48767459e-02 1.75482808e-04 9.99889320e-01 -2.58651501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.69, Y:-19.74, Z:-2.59 [[ 9.87133185e-01 1.59246107e-01 1.44482806e-02 1.20686881e+02] [-1.59226568e-01 9.87238902e-01 -2.50014210e-03 -1.97422827e+01] [-1.46620426e-02 1.67423098e-04 9.99892492e-01 -2.58733933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29862385300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:120.71, Y:-19.75, Z:-2.59 [[ 9.87142904e-01 1.59228783e-01 1.39671944e-02 1.20714422e+02] [-1.59210532e-01 9.87241697e-01 -2.41612471e-03 -1.97478298e+01] [-1.41737133e-02 1.61335908e-04 9.99899535e-01 -2.58835822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:120.74, Y:-19.75, Z:-2.59 [[ 9.86967076e-01 1.60341943e-01 1.36547651e-02 1.20741681e+02] [-1.60324619e-01 9.87061519e-01 -2.36113975e-03 -1.97536440e+01] [-1.38566829e-02 1.41172190e-04 9.99903982e-01 -2.58839886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.77, Y:-19.76, Z:-2.59 [[ 9.86752471e-01 1.61650578e-01 1.37350361e-02 1.20769378e+02] [-1.61633191e-01 9.86848051e-01 -2.37404811e-03 -1.97584310e+01] [-1.39381598e-02 1.22560132e-04 9.99902852e-01 -2.58879241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.80, Y:-19.76, Z:-2.59 [[ 9.86241257e-01 1.64762216e-01 1.34757075e-02 1.20796856e+02] [-1.64745783e-01 9.86333314e-01 -2.32821742e-03 -1.97627522e+01] [-1.36751415e-02 7.61180946e-05 9.99906488e-01 -2.58925787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41862385300001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.82, Y:-19.77, Z:-2.59 [[ 9.85975143e-01 1.66322683e-01 1.37761375e-02 1.20823511e+02] [-1.66305672e-01 9.86071378e-01 -2.37939996e-03 -1.97665522e+01] [-1.39800031e-02 5.49794152e-05 9.99902273e-01 -2.58948681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:120.85, Y:-19.77, Z:-2.59 [[ 9.85426910e-01 1.69399030e-01 1.54198971e-02 1.20850117e+02] [-1.69378116e-01 9.85547548e-01 -2.66181428e-03 -1.97699650e+01] [-1.56479505e-02 1.12302998e-05 9.99877563e-01 -2.59010069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.478623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:120.88, Y:-19.77, Z:-2.59 [[ 9.85213362e-01 1.70624982e-01 1.55481874e-02 1.20877420e+02] [-1.70603891e-01 9.85336042e-01 -2.68267457e-03 -1.97743362e+01] [-1.57779207e-02 -9.57444111e-06 9.99875521e-01 -2.59052600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:120.91, Y:-19.78, Z:-2.59 [[ 9.85223145e-01 1.70568470e-01 1.55483785e-02 1.20905516e+02] [-1.70547390e-01 9.85345826e-01 -2.68156676e-03 -1.97790506e+01] [-1.57779206e-02 -9.79373644e-06 9.99875521e-01 -2.59107581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.538623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:120.93, Y:-19.78, Z:-2.59 [[ 9.85030765e-01 1.71651830e-01 1.58127238e-02 1.20932588e+02] [-1.71630181e-01 9.85157677e-01 -2.72627881e-03 -1.97833585e+01] [-1.60459970e-02 -2.84721511e-05 9.99871254e-01 -2.59201124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.96, Y:-19.79, Z:-2.59 [[ 9.84925200e-01 1.72247867e-01 1.59066715e-02 1.20960140e+02] [-1.72226059e-01 9.85053639e-01 -2.74112280e-03 -1.97873832e+01] [-1.61410772e-02 -3.97424265e-05 9.99869724e-01 -2.59257999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.598623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.99, Y:-19.79, Z:-2.59 [[ 9.84770992e-01 1.73140862e-01 1.57586500e-02 1.20987046e+02] [-1.73119589e-01 9.84897070e-01 -2.71454944e-03 -1.97903997e+01] [-1.59906476e-02 -5.49214757e-05 9.99872140e-01 -2.59312771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62862385300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:121.01, Y:-19.79, Z:-2.59 [[ 9.84733587e-01 1.73386022e-01 1.53964476e-02 1.21013830e+02] [-1.73365766e-01 9.84853940e-01 -2.65092153e-03 -1.97944101e+01] [-1.56228848e-02 -5.87654562e-05 9.99877954e-01 -2.59431688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.65862385300001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:121.04, Y:-19.80, Z:-2.60 [[ 9.84623999e-01 1.74083686e-01 1.45069272e-02 1.21041807e+02] [-1.74065795e-01 9.84730860e-01 -2.49661909e-03 -1.97987539e+01] [-1.47200396e-02 -6.69287436e-05 9.99891652e-01 -2.59558749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68862385300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:121.07, Y:-19.80, Z:-2.60 [[ 9.84643428e-01 1.74008582e-01 1.40830619e-02 1.21069380e+02] [-1.73991728e-01 9.84744134e-01 -2.42273378e-03 -1.98027628e+01] [-1.42897890e-02 -6.48073695e-05 9.99897894e-01 -2.59616426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.10, Y:-19.81, Z:-2.60 [[ 9.84641500e-01 1.74045801e-01 1.37541243e-02 1.21097133e+02] [-1.74029741e-01 9.84737556e-01 -2.36522820e-03 -1.98066541e+01] [-1.39558608e-02 -6.47248419e-05 9.99902610e-01 -2.59653318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74862385300001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.12, Y:-19.81, Z:-2.60 [[ 9.84748168e-01 1.73453832e-01 1.35946456e-02 1.21124040e+02] [-1.73438098e-01 9.84842000e-01 -2.33694140e-03 -1.98094371e+01] [-1.37939294e-02 -5.65307282e-05 9.99904858e-01 -2.59701768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77862385300001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:121.15, Y:-19.81, Z:-2.60 [[ 9.84822807e-01 1.73035802e-01 1.35148139e-02 1.21151962e+02] [-1.73020228e-01 9.84915534e-01 -2.32207991e-03 -1.98132649e+01] [-1.37127531e-02 -5.14989421e-05 9.99905974e-01 -2.59741637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.18, Y:-19.82, Z:-2.60 [[ 9.84898307e-01 1.72612952e-01 1.34199135e-02 1.21179844e+02] [-1.72597569e-01 9.84989729e-01 -2.30488860e-03 -1.98169001e+01] [-1.36163306e-02 -4.61635741e-05 9.99907292e-01 -2.59812430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.21, Y:-19.82, Z:-2.60 [[ 9.85119202e-01 1.71332400e-01 1.36149704e-02 1.21207124e+02] [-1.71316457e-01 9.85213280e-01 -2.33745257e-03 -1.98184393e+01] [-1.38141310e-02 -2.97990984e-05 9.99904580e-01 -2.59872785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.23, Y:-19.82, Z:-2.60 [[ 9.85163877e-01 1.71062060e-01 1.37806842e-02 1.21233905e+02] [-1.71045717e-01 9.85260255e-01 -2.36473279e-03 -1.98218609e+01] [-1.39820765e-02 -2.74776847e-05 9.99902246e-01 -2.59936533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.898623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:121.26, Y:-19.82, Z:-2.60 [[ 9.85169910e-01 1.71045333e-01 1.35551799e-02 1.21262411e+02] [-1.71029534e-01 9.85263159e-01 -2.32488013e-03 -1.98238403e+01] [-1.37530793e-02 -2.79341597e-05 9.99905422e-01 -2.59995555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.29, Y:-19.83, Z:-2.60 [[ 9.85139882e-01 1.71231135e-01 1.33906987e-02 1.21289405e+02] [-1.71215746e-01 9.85230885e-01 -2.29579413e-03 -1.98265483e+01] [-1.35860414e-02 -3.10201183e-05 9.99907705e-01 -2.60072774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.32, Y:-19.83, Z:-2.60 [[ 9.85095559e-01 1.71497450e-01 1.32425523e-02 1.21317138e+02] [-1.71482440e-01 9.85184563e-01 -2.26922764e-03 -1.98294766e+01] [-1.34355248e-02 -3.54591074e-05 9.99909739e-01 -2.60151391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:121.35, Y:-19.83, Z:-2.60 [[ 9.85069694e-01 1.71689216e-01 1.26693214e-02 1.21345436e+02] [-1.71675503e-01 9.85151162e-01 -2.17024973e-03 -1.98300179e+01] [-1.28538052e-02 -3.71648855e-05 9.99917386e-01 -2.60211536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.01862385300001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:121.37, Y:-19.83, Z:-2.60 [[ 9.85124985e-01 1.71350429e-01 1.29535369e-02 1.21373415e+02] [-1.71336077e-01 9.85210145e-01 -2.21798050e-03 -1.98322292e+01] [-1.31420079e-02 -3.44201906e-05 9.99913639e-01 -2.60274793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04862385300001 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:121.40, Y:-19.83, Z:-2.60 [[ 9.85226433e-01 1.70761916e-01 1.30093354e-02 1.21401434e+02] [-1.70747402e-01 9.85312320e-01 -2.22656222e-03 -1.98348688e+01] [-1.31984705e-02 -2.76422594e-05 9.99912896e-01 -2.60338235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07862385300001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:121.43, Y:-19.84, Z:-2.60 [[ 9.85729312e-01 1.67814668e-01 1.32649945e-02 1.21429061e+02] [-1.67799323e-01 9.85818562e-01 -2.26937854e-03 -1.98358274e+01] [-1.34577128e-02 1.11358630e-05 9.99909441e-01 -2.60371154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:121.46, Y:-19.84, Z:-2.60 [[ 9.86083950e-01 1.65726843e-01 1.31550998e-02 1.21456159e+02] [-1.65711581e-01 9.86171695e-01 -2.24945922e-03 -1.98386021e+01] [-1.33459828e-02 3.82032563e-05 9.99910938e-01 -2.60421289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13862385300001 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:121.48, Y:-19.84, Z:-2.60 [[ 9.86744207e-01 1.61799734e-01 1.25186147e-02 1.21484549e+02] [-1.61785610e-01 9.86823611e-01 -2.13958376e-03 -1.98407321e+01] [-1.26998487e-02 8.58901657e-05 9.99919350e-01 -2.59912941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.51, Y:-19.84, Z:-2.61 [[ 9.87090710e-01 1.59653010e-01 1.27611472e-02 1.21511673e+02] [-1.59638165e-01 9.87173188e-01 -2.18012495e-03 -1.98442788e+01] [-1.29455259e-02 1.14814961e-04 9.99916197e-01 -2.60577441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:121.54, Y:-19.85, Z:-2.61 [[ 9.87416114e-01 1.57654840e-01 1.24245112e-02 1.21538100e+02] [-1.57640623e-01 9.87494270e-01 -2.12155981e-03 -1.98478027e+01] [-1.26036078e-02 1.36254657e-04 9.99920562e-01 -2.60582779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.56, Y:-19.85, Z:-2.61 [[ 9.87948514e-01 1.54262483e-01 1.26814962e-02 1.21564936e+02] [-1.54247407e-01 9.88029885e-01 -2.16433300e-03 -1.98498856e+01] [-1.28635727e-02 1.82161659e-04 9.99917244e-01 -2.60611177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.258623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.59, Y:-19.85, Z:-2.61 [[ 9.88202451e-01 1.52621975e-01 1.27455429e-02 1.21592997e+02] [-1.52606624e-01 9.88284621e-01 -2.17412903e-03 -1.98533815e+01] [-1.29280439e-02 2.03425373e-04 9.99916409e-01 -2.60679419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.62, Y:-19.86, Z:-2.61 [[ 9.88588603e-01 1.50062048e-01 1.31892573e-02 1.21620993e+02] [-1.50045396e-01 9.88676551e-01 -2.24880084e-03 -1.98556478e+01] [-1.33773691e-02 2.44151548e-04 9.99910489e-01 -2.60725061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.65, Y:-19.86, Z:-2.61 [[ 9.88713001e-01 1.49227168e-01 1.33361790e-02 1.21648573e+02] [-1.49210080e-01 9.88802906e-01 -2.27286582e-03 -1.98584587e+01] [-1.35260259e-02 2.57319642e-04 9.99908486e-01 -2.60765616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:121.68, Y:-19.86, Z:-2.61 [[ 9.88832671e-01 1.48408110e-01 1.36007868e-02 1.21676475e+02] [-1.48390274e-01 9.88926164e-01 -2.31695310e-03 -1.98615232e+01] [-1.37940286e-02 2.72854443e-04 9.99904821e-01 -2.60794014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.37862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.70, Y:-19.87, Z:-2.61 [[ 9.88907912e-01 1.47853477e-01 1.41594766e-02 1.21703298e+02] [-1.47834101e-01 9.89009234e-01 -2.41122495e-03 -1.98650477e+01] [-1.43603611e-02 2.91225926e-04 9.99896842e-01 -2.60865516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.73, Y:-19.87, Z:-2.61 [[ 9.89082427e-01 1.46673050e-01 1.42466901e-02 1.21731290e+02] [-1.46653339e-01 9.89184978e-01 -2.42419749e-03 -1.98688368e+01] [-1.44481762e-02 3.08406472e-04 9.99895572e-01 -2.60946470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:121.76, Y:-19.87, Z:-2.61 [[ 9.89203097e-01 1.45870035e-01 1.41126201e-02 1.21757898e+02] [-1.45850623e-01 9.89303711e-01 -2.40066427e-03 -1.98724740e+01] [-1.43118524e-02 3.16410108e-04 9.99897530e-01 -2.61009214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46862385300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:-19.88, Z:-2.61 [[ 9.89342018e-01 1.44934624e-01 1.40116763e-02 1.21784279e+02] [-1.44915411e-01 9.89441180e-01 -2.38231887e-03 -1.98758213e+01] [-1.42090100e-02 3.26420327e-04 9.99898994e-01 -2.61110153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49862385300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:121.81, Y:-19.88, Z:-2.61 [[ 9.89352907e-01 1.44855349e-01 1.40625027e-02 1.21812248e+02] [-1.44836006e-01 9.89452788e-01 -2.38972489e-03 -1.98800002e+01] [-1.42603469e-02 3.27524550e-04 9.99898262e-01 -2.61142515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52862385300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:121.84, Y:-19.88, Z:-2.61 [[ 9.89416833e-01 1.44431669e-01 1.39220205e-02 1.21839689e+02] [-1.44412683e-01 9.89514722e-01 -2.36486903e-03 -1.98837041e+01] [-1.41176063e-02 3.29324896e-04 9.99900287e-01 -2.61204755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:121.87, Y:-19.89, Z:-2.61 [[ 9.89521164e-01 1.43761941e-01 1.34301854e-02 1.21866261e+02] [-1.43744222e-01 9.89612246e-01 -2.28048059e-03 -1.98871499e+01] [-1.36185223e-02 3.26072252e-04 9.99907210e-01 -2.60710900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.89, Y:-19.89, Z:-2.61 [[ 9.89591642e-01 1.43241247e-01 1.37958870e-02 1.21893393e+02] [-1.43222517e-01 9.89687743e-01 -2.34133147e-03 -1.98916270e+01] [-1.39889955e-02 3.41080389e-04 9.99902091e-01 -2.61326569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.618623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:121.92, Y:-19.90, Z:-2.61 [[ 9.89710492e-01 1.42433994e-01 1.36271574e-02 1.21920735e+02] [-1.42415655e-01 9.89804242e-01 -2.31176836e-03 -1.98956650e+01] [-1.38174926e-02 3.47260849e-04 9.99904474e-01 -2.61417252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:121.95, Y:-19.90, Z:-2.61 [[ 9.89732071e-01 1.42319471e-01 1.32512976e-02 1.21947788e+02] [-1.42302131e-01 9.89820718e-01 -2.24713043e-03 -1.98999938e+01] [-1.34362193e-02 3.38369156e-04 9.99909673e-01 -2.61167552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.678623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:121.97, Y:-19.90, Z:-2.62 [[ 9.89697827e-01 1.42525794e-01 1.35870910e-02 1.21973927e+02] [-1.42507601e-01 9.89791029e-01 -2.30285055e-03 -1.99048708e+01] [-1.37765964e-02 3.42862444e-04 9.99905039e-01 -2.61517216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.00, Y:-19.91, Z:-2.62 [[ 9.89650238e-01 1.42851816e-01 1.36295714e-02 1.22001577e+02] [-1.42833556e-01 9.89744030e-01 -2.30884166e-03 -1.99096506e+01] [-1.38196092e-02 3.38185538e-04 9.99904447e-01 -2.61556355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.738623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:122.03, Y:-19.91, Z:-2.62 [[ 9.89515970e-01 1.43817145e-01 1.32201873e-02 1.22027839e+02] [-1.43800064e-01 9.89604229e-01 -2.23866522e-03 -1.99142578e+01] [-1.34047117e-02 3.14131207e-04 9.99910103e-01 -2.61696780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76862385300001 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.05, Y:-19.92, Z:-2.62 [[ 9.89479284e-01 1.44109172e-01 1.27786357e-02 1.22054757e+02] [-1.44093250e-01 9.89561750e-01 -2.16289156e-03 -1.99183065e+01] [-1.29569416e-02 2.98821251e-04 9.99916011e-01 -2.61763756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79862385300001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:122.08, Y:-19.92, Z:-2.62 [[ 9.89354812e-01 1.44995953e-01 1.23786193e-02 1.22082417e+02] [-1.44981093e-01 9.89432209e-01 -2.09421322e-03 -1.99228843e+01] [-1.25514571e-02 2.77254161e-04 9.99921189e-01 -2.61867431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.11, Y:-19.93, Z:-2.62 [[ 9.89326190e-01 1.45170700e-01 1.26157467e-02 1.22108869e+02] [-1.45155289e-01 9.89406585e-01 -2.13363700e-03 -1.99272606e+01] [-1.27918445e-02 2.79620593e-04 9.99918142e-01 -2.61942373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85862385300001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.14, Y:-19.93, Z:-2.62 [[ 9.89333254e-01 1.45098064e-01 1.28943817e-02 1.22136072e+02] [-1.45081982e-01 9.89417238e-01 -2.17902091e-03 -1.99319878e+01] [-1.30740952e-02 2.85035399e-04 9.99914490e-01 -2.61998167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88862385300001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.16, Y:-19.94, Z:-2.62 [[ 9.89480848e-01 1.44094859e-01 1.28188171e-02 1.22162230e+02] [-1.44078889e-01 9.89563835e-01 -2.16555750e-03 -1.99368972e+01] [-1.29970836e-02 2.95856738e-04 9.99915491e-01 -2.62085476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91862385300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.19, Y:-19.94, Z:-2.62 [[ 9.89631035e-01 1.43098428e-01 1.23796331e-02 1.22188925e+02] [-1.43083475e-01 9.89708418e-01 -2.08979982e-03 -1.99418979e+01] [-1.25512741e-02 2.96809831e-04 9.99921186e-01 -2.62113592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.22, Y:-19.95, Z:-2.62 [[ 9.89825279e-01 1.41766903e-01 1.21680817e-02 1.22216757e+02] [-1.41752370e-01 9.89900021e-01 -2.05302013e-03 -1.99472160e+01] [-1.23362346e-02 3.07276809e-04 9.99923859e-01 -2.62213303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.24, Y:-19.95, Z:-2.62 [[ 9.89960221e-01 1.40846467e-01 1.18757787e-02 1.22243563e+02] [-1.40832566e-01 9.90031402e-01 -2.00295293e-03 -1.99528508e+01] [-1.20395026e-02 3.10347339e-04 9.99927474e-01 -2.62246466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.27, Y:-19.96, Z:-2.62 [[ 9.90216867e-01 1.39045173e-01 1.17045497e-02 1.22270460e+02] [-1.39031557e-01 9.90285986e-01 -1.97300938e-03 -1.99599606e+01] [-1.18651890e-02 3.26405387e-04 9.99929553e-01 -2.62322861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.30, Y:-19.97, Z:-2.62 [[ 9.90305995e-01 1.38418133e-01 1.15955357e-02 1.22296962e+02] [-1.38404735e-01 9.90373824e-01 -1.95388081e-03 -1.99661283e+01] [-1.17543676e-02 3.30062834e-04 9.99930861e-01 -2.62382499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.32, Y:-19.97, Z:-2.62 [[ 9.90440015e-01 1.37368090e-01 1.25930408e-02 1.22323002e+02] [-1.37352219e-01 9.90520000e-01 -2.12072011e-03 -1.99737747e+01] [-1.27649781e-02 3.70763950e-04 9.99918456e-01 -2.62331310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.35, Y:-19.98, Z:-2.62 [[ 9.90467953e-01 1.37101833e-01 1.32786041e-02 1.22351430e+02] [-1.37084182e-01 9.90556880e-01 -2.23481179e-03 -1.99799381e+01] [-1.34596094e-02 3.93222887e-04 9.99909338e-01 -2.62362049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.38, Y:-19.99, Z:-2.62 [[ 9.90459395e-01 1.37155160e-01 1.33660011e-02 1.22378160e+02] [-1.37137288e-01 9.90549497e-01 -2.24893365e-03 -1.99882084e+01] [-1.35481385e-02 3.94500330e-04 9.99908142e-01 -2.62407674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15862385300002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:122.40, Y:-19.99, Z:-2.62 [[ 9.90486913e-01 1.37018531e-01 1.27121228e-02 1.22404951e+02] [-1.37002363e-01 9.90568413e-01 -2.13820024e-03 -1.99947429e+01] [-1.28852003e-02 3.76268499e-04 9.99916912e-01 -2.61836426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:122.43, Y:-20.00, Z:-2.63 [[ 9.90411396e-01 1.37520531e-01 1.31670183e-02 1.22433040e+02] [-1.37503241e-01 9.90498843e-01 -2.21381897e-03 -2.00024184e+01] [-1.33463620e-02 3.82083844e-04 9.99910860e-01 -2.62594568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.218623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:122.46, Y:-20.01, Z:-2.63 [[ 9.90364504e-01 1.37864697e-01 1.30948155e-02 1.22460936e+02] [-1.37847635e-01 9.90451001e-01 -2.20108789e-03 -2.00095776e+01] [-1.32732255e-02 3.74789966e-04 9.99911837e-01 -2.62623241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.49, Y:-20.02, Z:-2.63 [[ 9.90202034e-01 1.38974960e-01 1.36342589e-02 1.22487018e+02] [-1.38956576e-01 9.90295825e-01 -2.29112538e-03 -2.00194799e+01] [-1.38203587e-02 3.74107070e-04 9.99904424e-01 -2.62692322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:122.52, Y:-20.03, Z:-2.63 [[ 9.90137465e-01 1.39433710e-01 1.36396836e-02 1.22515394e+02] [-1.39415368e-01 9.90231340e-01 -2.29115734e-03 -2.00269388e+01] [-1.38259068e-02 3.66979209e-04 9.99904350e-01 -2.62776483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.54, Y:-20.04, Z:-2.63 [[ 9.89914473e-01 1.41009858e-01 1.36219226e-02 1.22542555e+02] [-1.40991720e-01 9.90008132e-01 -2.28760793e-03 -2.00360693e+01] [-1.38083894e-02 3.43957894e-04 9.99904600e-01 -2.62805228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.57, Y:-20.04, Z:-2.63 [[ 9.89791900e-01 1.41897453e-01 1.33081479e-02 1.22569536e+02] [-1.41880234e-01 9.89881310e-01 -2.23403368e-03 -2.00426517e+01] [-1.34904906e-02 3.23065309e-04 9.99908947e-01 -2.62822798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:122.60, Y:-20.05, Z:-2.63 [[ 9.89664734e-01 1.42824062e-01 1.28453152e-02 1.22597727e+02] [-1.42808109e-01 9.89748048e-01 -2.15544978e-03 -2.00500291e+01] [-1.30214757e-02 2.98757449e-04 9.99915172e-01 -2.62911165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:122.62, Y:-20.06, Z:-2.63 [[ 9.89335923e-01 1.45107341e-01 1.25813983e-02 1.22624323e+02] [-1.45092228e-01 9.89415883e-01 -2.11065040e-03 -2.00591001e+01] [-1.27545062e-02 2.62679146e-04 9.99918623e-01 -2.63002014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.65, Y:-20.07, Z:-2.63 [[ 9.89139695e-01 1.46444074e-01 1.25218801e-02 1.22652503e+02] [-1.46429221e-01 9.89218921e-01 -2.09984367e-03 -2.00653902e+01] [-1.26943904e-02 2.43469576e-04 9.99919393e-01 -2.63002181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.458623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.68, Y:-20.07, Z:-2.63 [[ 9.89144957e-01 1.46408519e-01 1.25219937e-02 1.22681436e+02] [-1.46393672e-01 9.89224184e-01 -2.09916620e-03 -2.00701583e+01] [-1.26943948e-02 2.43239031e-04 9.99919393e-01 -2.63058773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:122.71, Y:-20.08, Z:-2.63 [[ 9.88908586e-01 1.47984013e-01 1.26704285e-02 1.22709040e+02] [-1.47968945e-01 9.88989727e-01 -2.12372773e-03 -2.00767441e+01] [-1.28452014e-02 2.25342647e-04 9.99917472e-01 -2.63120006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.518623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:122.74, Y:-20.09, Z:-2.63 [[ 9.88398582e-01 1.51317683e-01 1.30843776e-02 1.22735594e+02] [-1.51301918e-01 9.88485166e-01 -2.19219679e-03 -2.00856071e+01] [-1.32654313e-02 1.87072771e-04 9.99911993e-01 -2.63111868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.548623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:122.76, Y:-20.09, Z:-2.63 [[ 9.88146257e-01 1.52940311e-01 1.32754016e-02 1.22763459e+02] [-1.52924238e-01 9.88235414e-01 -2.22354478e-03 -2.00921519e+01] [-1.34592916e-02 1.67056784e-04 9.99909406e-01 -2.63208033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.578623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:122.79, Y:-20.10, Z:-2.63 [[ 9.87916337e-01 1.54443467e-01 1.29817486e-02 1.22790898e+02] [-1.54428234e-01 9.88001617e-01 -2.17373640e-03 -2.00983770e+01] [-1.31617080e-02 1.42721188e-04 9.99913371e-01 -2.63264505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:122.82, Y:-20.11, Z:-2.63 [[ 9.87494516e-01 1.57084197e-01 1.33841902e-02 1.22818443e+02] [-1.57068258e-01 9.87585208e-01 -2.24043790e-03 -2.01066732e+01] [-1.35699657e-02 1.10188695e-04 9.99907918e-01 -2.63300168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.638623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:122.85, Y:-20.11, Z:-2.63 [[ 9.87341318e-01 1.58011433e-01 1.37662365e-02 1.22845270e+02] [-1.57994670e-01 9.87437278e-01 -2.30375350e-03 -2.01126466e+01] [-1.39573145e-02 9.95990228e-05 9.99902587e-01 -2.63328872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.668623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:122.87, Y:-20.12, Z:-2.63 [[ 9.87048579e-01 1.59764185e-01 1.45088715e-02 1.22873706e+02] [-1.59745767e-01 9.87155205e-01 -2.42704578e-03 -2.01196584e+01] [-1.47102630e-02 7.78812749e-05 9.99891795e-01 -2.63385110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:122.90, Y:-20.13, Z:-2.63 [[ 9.86933736e-01 1.60467734e-01 1.45570376e-02 1.22901025e+02] [-1.60449281e-01 9.87041084e-01 -2.43443088e-03 -2.01253884e+01] [-1.47590417e-02 6.69557550e-05 9.99891077e-01 -2.63437369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.93, Y:-20.13, Z:-2.64 [[ 9.86819604e-01 1.61176585e-01 1.44629495e-02 1.22927841e+02] [-1.61158459e-01 9.86925582e-01 -2.41780508e-03 -2.01309412e+01] [-1.46635484e-02 5.51108018e-05 9.99892483e-01 -2.63503438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:122.96, Y:-20.14, Z:-2.64 [[ 9.86681584e-01 1.62011303e-01 1.45529859e-02 1.22955538e+02] [-1.61993054e-01 9.86788901e-01 -2.43194929e-03 -2.01369672e+01] [-1.47547282e-02 4.20769538e-05 9.99891142e-01 -2.63594374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:122.98, Y:-20.14, Z:-2.64 [[ 9.86370870e-01 1.63940221e-01 1.40039716e-02 1.22982516e+02] [-1.63923528e-01 9.86470275e-01 -2.33943097e-03 -2.01431647e+01] [-1.41980286e-02 1.19661182e-05 9.99899203e-01 -2.63660410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.01, Y:-20.15, Z:-2.64 [[ 9.86201107e-01 1.64999564e-01 1.35100050e-02 1.23010654e+02] [-1.64984140e-01 9.86293640e-01 -2.25599417e-03 -2.01489170e+01] [-1.36970701e-02 -4.07262028e-06 9.99906191e-01 -2.63719854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.04, Y:-20.15, Z:-2.64 [[ 9.85992269e-01 1.66258256e-01 1.33205587e-02 1.23038612e+02] [-1.66243385e-01 9.86082244e-01 -2.22374283e-03 -2.01545706e+01] [-1.35048820e-02 -2.18615180e-05 9.99908805e-01 -2.63778352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:123.07, Y:-20.16, Z:-2.64 [[ 9.85625825e-01 1.68407800e-01 1.34367126e-02 1.23066462e+02] [-1.68392877e-01 9.85717409e-01 -2.24249483e-03 -2.01604426e+01] [-1.36224551e-02 -5.23858734e-05 9.99907209e-01 -2.63841062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:123.09, Y:-20.17, Z:-2.64 [[ 9.85444045e-01 1.69472600e-01 1.33817797e-02 1.23093441e+02] [-1.69457905e-01 9.85534897e-01 -2.23274065e-03 -2.01651384e+01] [-1.35665992e-02 -6.74073761e-05 9.99907967e-01 -2.63870122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.12, Y:-20.17, Z:-2.64 [[ 9.85114562e-01 1.71322727e-01 1.40649222e-02 1.23121858e+02] [-1.71306695e-01 9.85214958e-01 -2.34575430e-03 -2.01707726e+01] [-1.42588528e-02 -9.85786218e-05 9.99898333e-01 -2.63908290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.15, Y:-20.18, Z:-2.64 [[ 9.84909983e-01 1.72467677e-01 1.43953367e-02 1.23148822e+02] [-1.72451016e-01 9.85015171e-01 -2.40017549e-03 -2.01761788e+01] [-1.45935777e-02 -1.18533635e-04 9.99893501e-01 -2.63902527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.18, Y:-20.18, Z:-2.64 [[ 9.84704375e-01 1.73601184e-01 1.48297884e-02 1.23176043e+02] [-1.73583645e-01 9.84816028e-01 -2.47164563e-03 -2.01809173e+01] [-1.50336940e-02 -1.40368470e-04 9.99886978e-01 -2.63920800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.21, Y:-20.18, Z:-2.64 [[ 9.84196500e-01 1.76445239e-01 1.49775503e-02 1.23205027e+02] [-1.76427693e-01 9.84310440e-01 -2.49529998e-03 -2.01849889e+01] [-1.51828429e-02 -1.86589128e-04 9.99884717e-01 -2.63934444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.058623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:123.23, Y:-20.19, Z:-2.64 [[ 9.83953908e-01 1.77811536e-01 1.47568596e-02 1.23233182e+02] [-1.77794667e-01 9.84064538e-01 -2.45785108e-03 -2.01886413e+01] [-1.49587365e-02 -2.05278766e-04 9.99888091e-01 -2.63996088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.26, Y:-20.19, Z:-2.64 [[ 9.83692343e-01 1.79238133e-01 1.49353703e-02 1.23260498e+02] [-1.79221028e-01 9.83805691e-01 -2.48686413e-03 -2.01923917e+01] [-1.51392432e-02 -2.30423231e-04 9.99885369e-01 -2.64066026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.118623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.29, Y:-20.20, Z:-2.64 [[ 9.83350525e-01 1.81083594e-01 1.51814924e-02 1.23289305e+02] [-1.81066157e-01 9.83467672e-01 -2.52681770e-03 -2.01961910e+01] [-1.53880722e-02 -2.64106975e-04 9.99881562e-01 -2.64177656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.32, Y:-20.20, Z:-2.64 [[ 9.83291979e-01 1.81399092e-01 1.52070095e-02 1.23318230e+02] [-1.81381645e-01 9.83409526e-01 -2.53029469e-03 -2.02004236e+01] [-1.54137112e-02 -2.70253923e-04 9.99881165e-01 -2.64269627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.35, Y:-20.20, Z:-2.64 [[ 9.83279828e-01 1.81530347e-01 1.44053369e-02 1.23345786e+02] [-1.81514714e-01 9.83385309e-01 -2.39628527e-03 -2.02030686e+01] [-1.46009952e-02 -2.58561645e-04 9.99893366e-01 -2.64392018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.37, Y:-20.21, Z:-2.64 [[ 9.83341182e-01 1.81262436e-01 1.35664655e-02 1.23372606e+02] [-1.81248553e-01 9.83434732e-01 -2.25620466e-03 -2.02059122e+01] [-1.37506985e-02 -2.40283285e-04 9.99905426e-01 -2.64426883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.40, Y:-20.21, Z:-2.65 [[ 9.83470938e-01 1.80602135e-01 1.29531417e-02 1.23400574e+02] [-1.80589441e-01 9.83556211e-01 -2.15269108e-03 -2.02089079e+01] [-1.31289236e-02 -2.22091512e-04 9.99913787e-01 -2.64558410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.43, Y:-20.21, Z:-2.65 [[ 9.83801623e-01 1.78838672e-01 1.22921550e-02 1.23427386e+02] [-1.78827112e-01 9.83878394e-01 -2.04210238e-03 -2.02107112e+01] [-1.24591926e-02 -1.89146954e-04 9.99922363e-01 -2.64633907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.298623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.46, Y:-20.21, Z:-2.65 [[ 9.83999307e-01 1.77730689e-01 1.25365958e-02 1.23455548e+02] [-1.77718590e-01 9.84079148e-01 -2.08154875e-03 -2.02140690e+01] [-1.27069576e-02 -1.79743605e-04 9.99919247e-01 -2.64688855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.48, Y:-20.22, Z:-2.65 [[ 9.84259600e-01 1.76278148e-01 1.26116814e-02 1.23483082e+02] [-1.76265796e-01 9.84340382e-01 -2.09310600e-03 -2.02171826e+01] [-1.27831562e-02 -1.62848393e-04 9.99918279e-01 -2.64791660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.358623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.51, Y:-20.22, Z:-2.65 [[ 9.84886666e-01 1.72709873e-01 1.30213439e-02 1.23510910e+02] [-1.72696406e-01 9.84972733e-01 -2.16014091e-03 -2.02193026e+01] [-1.31987464e-02 -1.21245326e-04 9.99912885e-01 -2.64798901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.388623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:123.54, Y:-20.22, Z:-2.65 [[ 9.85246140e-01 1.70579819e-01 1.38769523e-02 1.23537368e+02] [-1.70564328e-01 9.85343856e-01 -2.30103145e-03 -2.02218441e+01] [-1.40660792e-02 -9.98306904e-05 9.99901063e-01 -2.64789300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:-20.22, Z:-2.65 [[ 9.86149200e-01 1.65202218e-01 1.47642168e-02 1.23565036e+02] [-1.65184101e-01 9.86259715e-01 -2.44673856e-03 -2.02241516e+01] [-1.49655589e-02 -2.59645873e-05 9.99888009e-01 -2.64841275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.59, Y:-20.23, Z:-2.65 [[ 9.86697322e-01 1.61867533e-01 1.50763504e-02 1.23592326e+02] [-1.61848269e-01 9.86812496e-01 -2.49728839e-03 -2.02281768e+01] [-1.52817609e-02 2.39865461e-05 9.99883227e-01 -2.64879944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.62, Y:-20.23, Z:-2.65 [[ 9.87258240e-01 1.58358786e-01 1.56096633e-02 1.23620570e+02] [-1.58337713e-01 9.87381633e-01 -2.58460481e-03 -2.02324466e+01] [-1.58219898e-02 8.00739922e-05 9.99874821e-01 -2.64940016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.65, Y:-20.24, Z:-2.65 [[ 9.87869431e-01 1.54496027e-01 1.56513483e-02 1.23649217e+02] [-1.54474368e-01 9.87993400e-01 -2.59075535e-03 -2.02369598e+01] [-1.58636903e-02 1.41595864e-04 9.99874154e-01 -2.64935038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.68, Y:-20.24, Z:-2.65 [[ 9.89142529e-01 1.46178447e-01 1.51300924e-02 1.23676900e+02] [-1.46157243e-01 9.89258202e-01 -2.50382458e-03 -2.02427588e+01] [-1.53335732e-02 2.65266775e-04 9.99882399e-01 -2.65066266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:123.71, Y:-20.25, Z:-2.65 [[ 9.89741187e-01 1.42063573e-01 1.51764069e-02 1.23705283e+02] [-1.42041769e-01 9.89857481e-01 -2.51053744e-03 -2.02485343e+01] [-1.53791358e-02 3.29098617e-04 9.99881680e-01 -2.65164292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:123.73, Y:-20.26, Z:-2.65 [[ 9.90819424e-01 1.34317886e-01 1.53484467e-02 1.23732839e+02] [-1.34294668e-01 9.90938192e-01 -2.53822112e-03 -2.02562136e+01] [-1.55502905e-02 4.53704231e-04 9.99878984e-01 -2.65229149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:123.76, Y:-20.26, Z:-2.65 [[ 9.91290676e-01 1.30795752e-01 1.53384038e-02 1.23760908e+02] [-1.30772151e-01 9.91409206e-01 -2.53602228e-03 -2.02627125e+01] [-1.55383356e-02 5.08099193e-04 9.99879144e-01 -2.65255403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:123.79, Y:-20.27, Z:-2.65 [[ 9.91693987e-01 1.27725633e-01 1.51393395e-02 1.23790115e+02] [-1.27702292e-01 9.91809388e-01 -2.50255168e-03 -2.02694657e+01] [-1.53349790e-02 5.48437105e-04 9.99882262e-01 -2.65304257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:123.82, Y:-20.28, Z:-2.65 [[ 9.92303253e-01 1.23008004e-01 1.42578196e-02 1.23818398e+02] [-1.22986821e-01 9.92405506e-01 -2.35647969e-03 -2.02783555e+01] [-1.44394046e-02 5.84818552e-04 9.99895575e-01 -2.65377286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.718623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:123.85, Y:-20.29, Z:-2.66 [[ 9.92490776e-01 1.21568803e-01 1.35309077e-02 1.23847738e+02] [-1.21549594e-01 9.92582841e-01 -2.23613285e-03 -2.02858477e+01] [-1.37023908e-02 5.74664882e-04 9.99905953e-01 -2.65517258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.88, Y:-20.29, Z:-2.66 [[ 9.92568772e-01 1.20996218e-01 1.29285467e-02 1.23877713e+02] [-1.20978633e-01 9.92652812e-01 -2.13658600e-03 -2.02932880e+01] [-1.30920771e-02 5.56630629e-04 9.99914140e-01 -2.65563445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:123.91, Y:-20.30, Z:-2.66 [[ 9.92561370e-01 1.21036203e-01 1.31211156e-02 1.23907600e+02] [-1.21018094e-01 9.92647933e-01 -2.16841015e-03 -2.03006164e+01] [-1.32871044e-02 5.64387751e-04 9.99911563e-01 -2.65611628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:123.94, Y:-20.31, Z:-2.66 [[ 9.92273784e-01 1.23321573e-01 1.35840809e-02 1.23937229e+02] [-1.23302377e-01 9.92366608e-01 -2.24492031e-03 -2.03101214e+01] [-1.37572354e-02 5.52626102e-04 9.99905212e-01 -2.65644492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:123.97, Y:-20.32, Z:-2.66 [[ 9.92085381e-01 1.24820938e-01 1.36503124e-02 1.23965677e+02] [-1.24801695e-01 9.92179141e-01 -2.25592932e-03 -2.03173696e+01] [-1.38251424e-02 5.34492382e-04 9.99904285e-01 -2.65713491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:123.99, Y:-20.33, Z:-2.66 [[ 9.91574587e-01 1.28827110e-01 1.35430377e-02 1.23994817e+02] [-1.28808545e-01 9.91666955e-01 -2.23791184e-03 -2.03273865e+01] [-1.37184867e-02 4.74597524e-04 9.99905785e-01 -2.65766333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.898623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:124.02, Y:-20.33, Z:-2.66 [[ 9.91264863e-01 1.31179700e-01 1.36329628e-02 1.24024311e+02] [-1.31161107e-01 9.91358506e-01 -2.25300120e-03 -2.03347953e+01] [-1.38107017e-02 4.45206428e-04 9.99904529e-01 -2.65822540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:124.06, Y:-20.34, Z:-2.66 [[ 9.90910085e-01 1.33806490e-01 1.38933888e-02 1.24055318e+02] [-1.33787439e-01 9.91007392e-01 -2.29591059e-03 -2.03422323e+01] [-1.40756588e-02 4.16280047e-04 9.99900846e-01 -2.65872523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.08, Y:-20.35, Z:-2.66 [[ 9.90177886e-01 1.39086945e-01 1.42329108e-02 1.24084333e+02] [-1.39067494e-01 9.90280112e-01 -2.35221340e-03 -2.03513967e+01] [-1.44217306e-02 3.49774469e-04 9.99895940e-01 -2.65954650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.11, Y:-20.36, Z:-2.66 [[ 9.89814744e-01 1.41673900e-01 1.39741842e-02 1.24112735e+02] [-1.41655389e-01 9.89913335e-01 -2.31065633e-03 -2.03589031e+01] [-1.41605910e-02 3.07603201e-04 9.99899686e-01 -2.65955203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.14, Y:-20.37, Z:-2.66 [[ 9.89133346e-01 1.46341567e-01 1.41198487e-02 1.24142358e+02] [-1.46323147e-01 9.89234091e-01 -2.33450705e-03 -2.03691710e+01] [-1.43094711e-02 2.43078072e-04 9.99897585e-01 -2.65960370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:-20.38, Z:-2.66 [[ 9.88810473e-01 1.48494321e-01 1.42578405e-02 1.24171132e+02] [-1.48475764e-01 9.88913237e-01 -2.35726763e-03 -2.03762564e+01] [-1.44498080e-02 2.13947163e-04 9.99895573e-01 -2.66015977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.078623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.20, Y:-20.38, Z:-2.66 [[ 9.88494524e-01 1.50564584e-01 1.44527609e-02 1.24200993e+02] [-1.50545734e-01 9.88600157e-01 -2.38971343e-03 -2.03834314e+01] [-1.46478079e-02 1.86417145e-04 9.99892698e-01 -2.66092664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.23, Y:-20.39, Z:-2.66 [[ 9.88188119e-01 1.52573922e-01 1.43331378e-02 1.24230686e+02] [-1.52555595e-01 9.88292049e-01 -2.36987492e-03 -2.03910022e+01] [-1.45269072e-02 1.55281885e-04 9.99894467e-01 -2.66149525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.26, Y:-20.40, Z:-2.66 [[ 9.87512573e-01 1.56886192e-01 1.43401658e-02 1.24258877e+02] [-1.56868297e-01 9.87616684e-01 -2.37133372e-03 -2.03998505e+01] [-1.45346165e-02 9.22044771e-05 9.99894363e-01 -2.66147556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.29, Y:-20.41, Z:-2.66 [[ 9.87135265e-01 1.59249699e-01 1.42654181e-02 1.24288327e+02] [-1.59232239e-01 9.87238335e-01 -2.35874404e-03 -2.04061130e+01] [-1.44589969e-02 5.68849632e-05 9.99895462e-01 -2.66173801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:-20.41, Z:-2.66 [[ 9.86705482e-01 1.61867712e-01 1.45304766e-02 1.24318024e+02] [-1.61849882e-01 9.86812466e-01 -2.40257068e-03 -2.04119476e+01] [-1.47277541e-02 1.88737365e-05 9.99891541e-01 -2.66229734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:124.35, Y:-20.42, Z:-2.66 [[ 9.85876101e-01 1.66819326e-01 1.48197782e-02 1.24347024e+02] [-1.66801338e-01 9.85987479e-01 -2.45035495e-03 -2.04186734e+01] [-1.50208823e-02 -5.62124363e-05 9.99887179e-01 -2.66253337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:-20.42, Z:-2.66 [[ 9.85515836e-01 1.68941538e-01 1.47408704e-02 1.24376365e+02] [-1.68923973e-01 9.85626070e-01 -2.43764163e-03 -2.04246658e+01] [-1.49408051e-02 -8.77519681e-05 9.99888376e-01 -2.66305668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.41, Y:-20.43, Z:-2.66 [[ 9.85196116e-01 1.70804271e-01 1.46462836e-02 1.24405744e+02] [-1.70787143e-01 9.85304972e-01 -2.42159060e-03 -2.04306290e+01] [-1.48446741e-02 -1.15655284e-04 9.99889805e-01 -2.66409035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.43, Y:-20.44, Z:-2.66 [[ 9.84728341e-01 1.73484526e-01 1.46018454e-02 1.24434583e+02] [-1.73467800e-01 9.84836583e-01 -2.41395985e-03 -2.04362368e+01] [-1.47992162e-02 -1.55855322e-04 9.99890473e-01 -2.66470234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.46, Y:-20.44, Z:-2.67 [[ 9.84730353e-01 1.73473107e-01 1.46018002e-02 1.24464346e+02] [-1.73456376e-01 9.84838594e-01 -2.41423306e-03 -2.04411178e+01] [-1.47992209e-02 -1.55406784e-04 9.99890473e-01 -2.66528438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.49, Y:-20.45, Z:-2.67 [[ 9.84612113e-01 1.74123604e-01 1.48309615e-02 1.24493810e+02] [-1.74106419e-01 9.84723790e-01 -2.45199282e-03 -2.04458788e+01] [-1.50313505e-02 -1.67903775e-04 9.99887009e-01 -2.66539180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.52, Y:-20.45, Z:-2.67 [[ 9.84521640e-01 1.74598817e-01 1.52444275e-02 1.24522186e+02] [-1.74580724e-01 9.84639640e-01 -2.51997154e-03 -2.04503769e+01] [-1.54502517e-02 -1.80416683e-04 9.99880621e-01 -2.66557365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.438623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.55, Y:-20.46, Z:-2.67 [[ 9.84576445e-01 1.74285878e-01 1.52858157e-02 1.24552635e+02] [-1.74267656e-01 9.84695081e-01 -2.52635328e-03 -2.04553258e+01] [-1.54921753e-02 -1.76435339e-04 9.99879973e-01 -2.66628051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:124.58, Y:-20.46, Z:-2.67 [[ 9.84688764e-01 1.73665113e-01 1.51150984e-02 1.24581770e+02] [-1.73647224e-01 9.84804753e-01 -2.49808951e-03 -2.04605952e+01] [-1.53192517e-02 -1.64854193e-04 9.99882640e-01 -2.66693089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.498623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:124.61, Y:-20.47, Z:-2.67 [[ 9.84925599e-01 1.72332924e-01 1.49307818e-02 1.24611420e+02] [-1.72315312e-01 9.85038752e-01 -2.46786022e-03 -2.04664591e+01] [-1.51326922e-02 -1.42143611e-04 9.99885484e-01 -2.66788891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.64, Y:-20.47, Z:-2.67 [[ 9.85647634e-01 1.68162684e-01 1.48341832e-02 1.24641452e+02] [-1.68144827e-01 9.85759253e-01 -2.45184117e-03 -2.04731325e+01] [-1.50352416e-02 -7.76397257e-05 9.99886961e-01 -2.66833077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:-20.48, Z:-2.67 [[ 9.86534702e-01 1.62902148e-01 1.45661132e-02 1.24670788e+02] [-1.62884354e-01 9.86642230e-01 -2.40771399e-03 -2.04791745e+01] [-1.47637642e-02 2.70146917e-06 9.99891010e-01 -2.66921943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.70, Y:-20.48, Z:-2.67 [[ 9.87052567e-01 1.59752276e-01 1.43680633e-02 1.24701357e+02] [-1.59734627e-01 9.87157134e-01 -2.37508870e-03 -2.04848906e+01] [-1.45629621e-02 4.92601567e-05 9.99893953e-01 -2.67021016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.73, Y:-20.49, Z:-2.67 [[ 9.87574084e-01 1.56528086e-01 1.40138153e-02 1.24732898e+02] [-1.56510978e-01 9.87673503e-01 -2.31610734e-03 -2.04914895e+01] [-1.42036099e-02 9.40116506e-05 9.99899119e-01 -2.67061930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.76, Y:-20.50, Z:-2.67 [[ 9.88100988e-01 1.53184724e-01 1.38158513e-02 1.24764497e+02] [-1.53167737e-01 9.88197561e-01 -2.28569349e-03 -2.04983294e+01] [-1.40029239e-02 1.42353309e-04 9.99901944e-01 -2.67134530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.678623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:124.80, Y:-20.51, Z:-2.67 [[ 9.89132071e-01 1.46425791e-01 1.33129474e-02 1.24796446e+02] [-1.46409374e-01 9.89221630e-01 -2.20479998e-03 -2.05083836e+01] [-1.34922951e-02 2.31698080e-04 9.99908948e-01 -2.67266733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.83, Y:-20.52, Z:-2.67 [[ 9.89545951e-01 1.43587286e-01 1.34723077e-02 1.24828823e+02] [-1.43570174e-01 9.89637618e-01 -2.23383025e-03 -2.05160935e+01] [-1.36534521e-02 2.76256114e-04 9.99906749e-01 -2.67312032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.738623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:124.86, Y:-20.52, Z:-2.67 [[ 9.90170849e-01 1.39183723e-01 1.37688550e-02 1.24860176e+02] [-1.39165384e-01 9.90266515e-01 -2.28581907e-03 -2.05248461e+01] [-1.39529849e-02 3.47203410e-04 9.99902592e-01 -2.67363698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:124.89, Y:-20.53, Z:-2.67 [[ 9.90384031e-01 1.37684259e-01 1.35098332e-02 1.24893161e+02] [-1.37666433e-01 9.90476104e-01 -2.24512422e-03 -2.05314416e+01] [-1.36902852e-02 3.63684630e-04 9.99906218e-01 -2.66793349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.798623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:124.93, Y:-20.54, Z:-2.67 [[ 9.90503119e-01 1.36764873e-01 1.41046502e-02 1.24925279e+02] [-1.36745310e-01 9.90603459e-01 -2.34678543e-03 -2.05388883e+01] [-1.42930731e-02 3.95753524e-04 9.99897770e-01 -2.67152319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:124.96, Y:-20.55, Z:-2.68 [[ 9.90661212e-01 1.35569799e-01 1.45324883e-02 1.24956034e+02] [-1.35548853e-01 9.90767705e-01 -2.42131475e-03 -2.05480565e+01] [-1.47265773e-02 4.28840483e-04 9.99891466e-01 -2.67556231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:124.99, Y:-20.56, Z:-2.68 [[ 9.90656374e-01 1.35576933e-01 1.47933799e-02 1.24988547e+02] [-1.35555206e-01 9.90766725e-01 -2.46634109e-03 -2.05554802e+01] [-1.49911676e-02 4.37976851e-04 9.99887530e-01 -2.67598765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.888623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:125.02, Y:-20.56, Z:-2.68 [[ 9.90646500e-01 1.35661940e-01 1.46748171e-02 1.25019865e+02] [-1.35640525e-01 9.90755090e-01 -2.44950149e-03 -2.05628452e+01] [-1.48714538e-02 4.36090195e-04 9.99889319e-01 -2.67586231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.05, Y:-20.57, Z:-2.68 [[ 9.90528321e-01 1.36543130e-01 1.44782301e-02 1.25051791e+02] [-1.36522341e-01 9.90634038e-01 -2.41928517e-03 -2.05723299e+01] [-1.46729643e-02 4.19768615e-04 9.99892258e-01 -2.67677807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.08, Y:-20.58, Z:-2.68 [[ 9.90422302e-01 1.37358886e-01 1.40071572e-02 1.25083551e+02] [-1.37339471e-01 9.90521266e-01 -2.34323792e-03 -2.05789151e+01] [-1.41962517e-02 3.97059522e-04 9.99899149e-01 -2.67706394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.12, Y:-20.59, Z:-2.68 [[ 9.90117485e-01 1.39555119e-01 1.38468436e-02 1.25115850e+02] [-1.39536327e-01 9.90214238e-01 -2.31883514e-03 -2.05870905e+01] [-1.40349470e-02 3.63781516e-04 9.99901439e-01 -2.67800836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.15, Y:-20.59, Z:-2.68 [[ 9.89892212e-01 1.41155740e-01 1.37283026e-02 1.25147711e+02] [-1.41137386e-01 9.89987344e-01 -2.30156431e-03 -2.05941989e+01] [-1.39157249e-02 3.40723839e-04 9.99903114e-01 -2.67795561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.18, Y:-20.60, Z:-2.68 [[ 9.89652614e-01 1.42792765e-01 1.40687537e-02 1.25179892e+02] [-1.42773616e-01 9.89752554e-01 -2.36137181e-03 -2.06009829e+01] [-1.42617717e-02 3.28290952e-04 9.99898242e-01 -2.67895020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:-20.61, Z:-2.68 [[ 9.89085865e-01 1.46631295e-01 1.44365995e-02 1.25212515e+02] [-1.46611498e-01 9.89191176e-01 -2.42598515e-03 -2.06089983e+01] [-1.46362822e-02 2.82936137e-04 9.99892844e-01 -2.67917276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.24, Y:-20.62, Z:-2.68 [[ 9.88754491e-01 1.48834763e-01 1.45866359e-02 1.25244760e+02] [-1.48814749e-01 9.88862047e-01 -2.45407739e-03 -2.06155856e+01] [-1.47894227e-02 2.55773472e-04 9.99890598e-01 -2.67993694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.28, Y:-20.62, Z:-2.68 [[ 9.88418332e-01 1.51072161e-01 1.43667667e-02 1.25276115e+02] [-1.51052941e-01 9.88522712e-01 -2.41992149e-03 -2.06221452e+01] [-1.45674580e-02 2.21752385e-04 9.99893864e-01 -2.68025871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.31, Y:-20.63, Z:-2.68 [[ 9.88049039e-01 1.53467141e-01 1.43851483e-02 1.25308669e+02] [-1.53448087e-01 9.88153733e-01 -2.42560374e-03 -2.06290676e+01] [-1.45869885e-02 1.89241947e-04 9.99893586e-01 -2.68122227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.34, Y:-20.64, Z:-2.68 [[ 9.87407039e-01 1.57594353e-01 1.38332972e-02 1.25340279e+02] [-1.57577096e-01 9.87503926e-01 -2.33556043e-03 -2.06358147e+01] [-1.40285064e-02 1.26338021e-04 9.99901588e-01 -2.68197627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.218623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.37, Y:-20.64, Z:-2.68 [[ 9.87009735e-01 1.60080551e-01 1.36381740e-02 1.25372393e+02] [-1.60063996e-01 9.87103950e-01 -2.30390798e-03 -2.06409850e+01] [-1.38311063e-02 9.09989679e-05 9.99904342e-01 -2.68231417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.40, Y:-20.65, Z:-2.68 [[ 9.86182861e-01 1.65113129e-01 1.34543415e-02 1.25404281e+02] [-1.65097450e-01 9.86274634e-01 -2.27547374e-03 -2.06458277e+01] [-1.36453864e-02 2.27557162e-05 9.99906897e-01 -2.68326244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.278623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:125.44, Y:-20.65, Z:-2.68 [[ 9.85831699e-01 1.67169674e-01 1.37899198e-02 1.25436652e+02] [-1.67153370e-01 9.85928141e-01 -2.33475302e-03 -2.06514552e+01] [-1.39861699e-02 -3.35802949e-06 9.99902189e-01 -2.68394518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.47, Y:-20.66, Z:-2.68 [[ 9.85515455e-01 1.69016630e-01 1.38804803e-02 1.25469333e+02] [-1.69000255e-01 9.85613199e-01 -2.35276967e-03 -2.06573155e+01] [-1.40784418e-02 -2.71138522e-05 9.99900893e-01 -2.68438804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.338623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.50, Y:-20.66, Z:-2.68 [[ 9.85066628e-01 1.71641541e-01 1.35248111e-02 1.25501787e+02] [-1.71626208e-01 9.85159468e-01 -2.29496219e-03 -2.06621975e+01] [-1.37180065e-02 -6.05213792e-05 9.99905902e-01 -2.68475094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.53, Y:-20.67, Z:-2.68 [[ 9.84836114e-01 1.72938601e-01 1.37865343e-02 1.25534667e+02] [-1.72922757e-01 9.84932604e-01 -2.34215157e-03 -2.06672769e+01] [-1.39838556e-02 -7.73700785e-05 9.99902218e-01 -2.68230300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.57, Y:-20.67, Z:-2.69 [[ 9.84606872e-01 1.74145308e-01 1.49237872e-02 1.25566675e+02] [-1.74126831e-01 9.84719961e-01 -2.53863591e-03 -2.06724058e+01] [-1.51378427e-02 -9.90734159e-05 9.99885411e-01 -2.68572933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:125.60, Y:-20.68, Z:-2.69 [[ 9.84550143e-01 1.74462494e-01 1.49617551e-02 1.25599181e+02] [-1.74443919e-01 9.84663815e-01 -2.54779395e-03 -2.06774775e+01] [-1.51767933e-02 -1.01556297e-04 9.99884821e-01 -2.68622505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.63, Y:-20.68, Z:-2.69 [[ 9.84520437e-01 1.74666551e-01 1.45294774e-02 1.25632354e+02] [-1.74649017e-01 9.84627638e-01 -2.47684660e-03 -2.06819043e+01] [-1.47387473e-02 -9.90528498e-05 9.99891374e-01 -2.68652879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:125.66, Y:-20.69, Z:-2.69 [[ 9.84509671e-01 1.74769995e-01 1.40056312e-02 1.25663817e+02] [-1.74753669e-01 9.84609283e-01 -2.39060232e-03 -2.06850122e+01] [-1.42078800e-02 -9.39643342e-05 9.99899059e-01 -2.68768249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.69, Y:-20.69, Z:-2.69 [[ 9.84518398e-01 1.74745357e-01 1.36961170e-02 1.25694879e+02] [-1.74729722e-01 9.84613656e-01 -2.33926651e-03 -2.06895086e+01] [-1.38941598e-02 -9.00678054e-05 9.99903467e-01 -2.68817672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.73, Y:-20.69, Z:-2.69 [[ 9.84526584e-01 1.74682710e-01 1.39052478e-02 1.25726501e+02] [-1.74666557e-01 9.84624773e-01 -2.37712875e-03 -2.06932376e+01] [-1.41066948e-02 -8.84353182e-05 9.99900492e-01 -2.68825745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.76, Y:-20.70, Z:-2.69 [[ 9.84454709e-01 1.75059165e-01 1.42553134e-02 1.25758091e+02] [-1.75042193e-01 9.84557911e-01 -2.43937440e-03 -2.06975412e+01] [-1.44622164e-02 -9.38277010e-05 9.99895412e-01 -2.68860026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.79, Y:-20.70, Z:-2.69 [[ 9.84384634e-01 1.75419232e-01 1.46623606e-02 1.25790076e+02] [-1.75401279e-01 9.84493821e-01 -2.51161463e-03 -2.07016313e+01] [-1.48755889e-02 -9.94019430e-05 9.99889347e-01 -2.68889834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.638623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:125.82, Y:-20.71, Z:-2.69 [[ 9.84338795e-01 1.75650169e-01 1.49717860e-02 1.25821602e+02] [-1.75631432e-01 9.84452644e-01 -2.56753052e-03 -2.07055713e+01] [-1.51900015e-02 -1.02196312e-04 9.99884620e-01 -2.68900804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.85, Y:-20.71, Z:-2.69 [[ 9.84315599e-01 1.75713718e-01 1.57318388e-02 1.25853374e+02] [-1.75692994e-01 9.84441302e-01 -2.70071576e-03 -2.07073252e+01] [-1.59616247e-02 -1.05617217e-04 9.99872600e-01 -2.68981387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.89, Y:-20.71, Z:-2.69 [[ 9.84348819e-01 1.75526102e-01 1.57477172e-02 1.25885437e+02] [-1.75505274e-01 9.84474772e-01 -2.70583232e-03 -2.07105838e+01] [-1.59781745e-02 -1.00324581e-04 9.99872336e-01 -2.69086307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:125.92, Y:-20.71, Z:-2.69 [[ 9.84515139e-01 1.74588754e-01 1.57704886e-02 1.25916483e+02] [-1.74567701e-01 9.84641437e-01 -2.71249470e-03 -2.07122513e+01] [-1.60018477e-02 -8.25258400e-05 9.99871959e-01 -2.69190621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:125.95, Y:-20.72, Z:-2.69 [[ 9.84643599e-01 1.73905424e-01 1.52933339e-02 1.25946020e+02] [-1.73885497e-01 9.84762357e-01 -2.63343279e-03 -2.07159704e+01] [-1.55182677e-02 -6.62962160e-05 9.99879582e-01 -2.69255341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.97, Y:-20.72, Z:-2.69 [[ 9.84776330e-01 1.73205300e-01 1.46800595e-02 1.25974213e+02] [-1.73186865e-01 9.84885740e-01 -2.52756888e-03 -2.07196319e+01] [-1.48959696e-02 -5.33034680e-05 9.99889047e-01 -2.69379756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.00, Y:-20.72, Z:-2.69 [[ 9.85026281e-01 1.71870160e-01 1.35600344e-02 1.26003032e+02] [-1.71854310e-01 9.85119611e-01 -2.33432472e-03 -2.07206050e+01] [-1.37594565e-02 -3.09791418e-05 9.99905334e-01 -2.69467989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.03, Y:-20.72, Z:-2.69 [[ 9.85269549e-01 1.70497660e-01 1.32084438e-02 1.26033600e+02] [-1.70482506e-01 9.85358081e-01 -2.27318997e-03 -2.07218346e+01] [-1.34026204e-02 -1.21037528e-05 9.99910181e-01 -2.69498638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.06, Y:-20.73, Z:-2.70 [[ 9.85395658e-01 1.69755535e-01 1.33587413e-02 1.26063629e+02] [-1.69739965e-01 9.85486204e-01 -2.29905635e-03 -2.07252724e+01] [-1.35551328e-02 -2.03214016e-06 9.99908125e-01 -2.69528601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.09, Y:-20.73, Z:-2.70 [[ 9.85564750e-01 1.68757785e-01 1.35252939e-02 1.26093828e+02] [-1.68741731e-01 9.85657552e-01 -2.32772027e-03 -2.07287129e+01] [-1.37241290e-02 1.18375390e-05 9.99905820e-01 -2.69557109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.12, Y:-20.73, Z:-2.70 [[ 9.85719296e-01 1.67852239e-01 1.35312704e-02 1.26123805e+02] [-1.67836086e-01 9.85812165e-01 -2.32874882e-03 -2.07322111e+01] [-1.37301766e-02 2.44571945e-05 9.99905736e-01 -2.69574355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.15, Y:-20.73, Z:-2.70 [[ 9.86120550e-01 1.65421367e-01 1.42138202e-02 1.26154744e+02] [-1.65403290e-01 9.86222981e-01 -2.44621651e-03 -2.07344347e+01] [-1.44226526e-02 6.12517484e-05 9.99895986e-01 -2.69673801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.998623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.19, Y:-20.74, Z:-2.70 [[ 9.86360475e-01 1.63947912e-01 1.46320343e-02 1.26185716e+02] [-1.63928595e-01 9.86468993e-01 -2.51808257e-03 -2.07386825e+01] [-1.48468825e-02 8.51282956e-05 9.99889775e-01 -2.69688776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.22, Y:-20.74, Z:-2.70 [[ 9.86644092e-01 1.62193066e-01 1.50613673e-02 1.26217109e+02] [-1.62172389e-01 9.86759036e-01 -2.59235610e-03 -2.07428307e+01] [-1.52824024e-02 1.15194928e-04 9.99883211e-01 -2.69771596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.058623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.25, Y:-20.75, Z:-2.70 [[ 9.87256355e-01 1.58414323e-01 1.51588908e-02 1.26247665e+02] [-1.58392925e-01 9.87372712e-01 -2.60957460e-03 -2.07466946e+01] [-1.53808691e-02 1.75258064e-04 9.99881692e-01 -2.69831920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.28, Y:-20.75, Z:-2.70 [[ 9.87505621e-01 1.56869484e-01 1.49871049e-02 1.26278447e+02] [-1.56848388e-01 9.87619322e-01 -2.58013629e-03 -2.07517969e+01] [-1.52062990e-02 1.97195849e-04 9.99884358e-01 -2.69881336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.31, Y:-20.76, Z:-2.70 [[ 9.87883721e-01 1.54500373e-01 1.46761039e-02 1.26309333e+02] [-1.54479881e-01 9.87992704e-01 -2.52663940e-03 -2.07561145e+01] [-1.48902503e-02 2.28863154e-04 9.99889108e-01 -2.69886566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.34, Y:-20.76, Z:-2.70 [[ 9.88007645e-01 1.53718942e-01 1.45389058e-02 1.26339263e+02] [-1.53698721e-01 9.88114583e-01 -2.50479029e-03 -2.07608648e+01] [-1.47511385e-02 2.40140740e-04 9.99891167e-01 -2.69991626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.37, Y:-20.77, Z:-2.70 [[ 9.88104463e-01 1.53115138e-01 1.43291610e-02 1.26370035e+02] [-1.53095431e-01 9.88208325e-01 -2.46876992e-03 -2.07661168e+01] [-1.45382022e-02 2.45673500e-04 9.99894285e-01 -2.70089292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.40, Y:-20.77, Z:-2.70 [[ 9.88232690e-01 1.52304041e-01 1.41290486e-02 1.26400067e+02] [-1.52284795e-01 9.88333655e-01 -2.43447362e-03 -2.07709358e+01] [-1.43349944e-02 2.54187152e-04 9.99897216e-01 -2.70090206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.43, Y:-20.78, Z:-2.70 [[ 9.88232787e-01 1.52290508e-01 1.42674310e-02 1.26430669e+02] [-1.52270867e-01 9.88335740e-01 -2.45929158e-03 -2.07761754e+01] [-1.44755387e-02 2.57838481e-04 9.99895191e-01 -2.70148263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.46, Y:-20.78, Z:-2.70 [[ 9.88225917e-01 1.52335086e-01 1.42673903e-02 1.26462027e+02] [-1.52315447e-01 9.88328870e-01 -2.45952769e-03 -2.07816354e+01] [-1.44755461e-02 2.57425077e-04 9.99895191e-01 -2.70209689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.49, Y:-20.79, Z:-2.70 [[ 9.88211106e-01 1.52433142e-01 1.42459253e-02 1.26492724e+02] [-1.52413562e-01 9.88313752e-01 -2.45658908e-03 -2.07870805e+01] [-1.44539094e-02 2.56356399e-04 9.99895504e-01 -2.70290178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.52, Y:-20.79, Z:-2.70 [[ 9.88078944e-01 1.53323477e-01 1.38531975e-02 1.26523597e+02] [-1.53305054e-01 9.88176025e-01 -2.38849109e-03 -2.07927505e+01] [-1.40556094e-02 2.36252558e-04 9.99901187e-01 -2.70360246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.55, Y:-20.80, Z:-2.70 [[ 9.87984198e-01 1.53951258e-01 1.36467944e-02 1.26553073e+02] [-1.53933398e-01 9.88078417e-01 -2.35589536e-03 -2.07976108e+01] [-1.38467961e-02 2.26889948e-04 9.99904103e-01 -2.70451875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.388623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:126.58, Y:-20.80, Z:-2.70 [[ 9.87708343e-01 1.55778066e-01 1.28616992e-02 1.26583440e+02] [-1.55762354e-01 9.87792062e-01 -2.22057568e-03 -2.08013591e+01] [-1.30506014e-02 1.89912580e-04 9.99914819e-01 -2.70071457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.61, Y:-20.81, Z:-2.71 [[ 9.87594496e-01 1.56479254e-01 1.30902374e-02 1.26613497e+02] [-1.56463041e-01 9.87681229e-01 -2.26003286e-03 -2.08060353e+01] [-1.32826301e-02 1.83857660e-04 9.99911765e-01 -2.70605223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.64, Y:-20.81, Z:-2.71 [[ 9.87435797e-01 1.57497021e-01 1.28543503e-02 1.26642173e+02] [-1.57481472e-01 9.87519448e-01 -2.21938266e-03 -2.08108800e+01] [-1.30434671e-02 1.67175883e-04 9.99914916e-01 -2.70700508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.67, Y:-20.82, Z:-2.71 [[ 9.87290970e-01 1.58420650e-01 1.26268476e-02 1.26672615e+02] [-1.58405725e-01 9.87371700e-01 -2.17987312e-03 -2.08158714e+01] [-1.28127289e-02 1.52004107e-04 9.99917902e-01 -2.70761480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.70, Y:-20.82, Z:-2.71 [[ 9.86978051e-01 1.60352407e-01 1.27055877e-02 1.26701278e+02] [-1.60337454e-01 9.87059820e-01 -2.19354453e-03 -2.08203276e+01] [-1.28929153e-02 1.27798707e-04 9.99916875e-01 -2.70803203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.73, Y:-20.83, Z:-2.71 [[ 9.86794425e-01 1.61463244e-01 1.28989525e-02 1.26730482e+02] [-1.61447929e-01 9.86878720e-01 -2.22676423e-03 -2.08251112e+01] [-1.30892423e-02 1.14849357e-04 9.99914326e-01 -2.70835739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.76, Y:-20.83, Z:-2.71 [[ 9.86631169e-01 1.62470534e-01 1.27382320e-02 1.26759676e+02] [-1.62455683e-01 9.86713391e-01 -2.19894285e-03 -2.08296992e+01] [-1.29262475e-02 1.00147373e-04 9.99916448e-01 -2.70834182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.79, Y:-20.83, Z:-2.71 [[ 9.86394004e-01 1.63882563e-01 1.30143655e-02 1.26788219e+02] [-1.63867188e-01 9.86479852e-01 -2.24635406e-03 -2.08325629e+01] [-1.32065476e-02 8.31626973e-05 9.99912786e-01 -2.70902972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:126.82, Y:-20.84, Z:-2.71 [[ 9.86332178e-01 1.64248372e-01 1.30884013e-02 1.26817670e+02] [-1.64232861e-01 9.86419012e-01 -2.25857841e-03 -2.08364425e+01] [-1.32816157e-02 7.81629772e-05 9.99911792e-01 -2.70978314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.85, Y:-20.84, Z:-2.71 [[ 9.86273235e-01 1.64592195e-01 1.32103925e-02 1.26846335e+02] [-1.64576427e-01 9.86361700e-01 -2.27937683e-03 -2.08408388e+01] [-1.34053929e-02 7.39691518e-05 9.99910141e-01 -2.71078994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.88, Y:-20.85, Z:-2.71 [[ 9.86295876e-01 1.64440817e-01 1.34038505e-02 1.26875876e+02] [-1.64424579e-01 9.86386948e-01 -2.31212849e-03 -2.08460368e+01] [-1.36015915e-02 7.65203227e-05 9.99907491e-01 -2.71165799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.90, Y:-20.85, Z:-2.71 [[ 9.86457510e-01 1.63456823e-01 1.35442933e-02 1.26904296e+02] [-1.63440151e-01 9.86550485e-01 -2.33632113e-03 -2.08507471e+01] [-1.37440168e-02 9.10001766e-05 9.99905542e-01 -2.71092983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:126.93, Y:-20.86, Z:-2.71 [[ 9.86547529e-01 1.62855114e-01 1.42191561e-02 1.26932725e+02] [-1.62836685e-01 9.86649989e-01 -2.45213097e-03 -2.08556440e+01] [-1.44286722e-02 1.03743517e-04 9.99895896e-01 -2.71147238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.778623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.96, Y:-20.86, Z:-2.71 [[ 9.86703880e-01 1.61900710e-01 1.42692838e-02 1.26961232e+02] [-1.61882055e-01 9.86807046e-01 -2.46048865e-03 -2.08604504e+01] [-1.44793846e-02 1.17832718e-04 9.99895161e-01 -2.71153905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.99, Y:-20.87, Z:-2.71 [[ 9.86864599e-01 1.60906209e-01 1.44033011e-02 1.26990373e+02] [-1.60887104e-01 9.86969693e-01 -2.48302668e-03 -2.08661617e+01] [-1.46151561e-02 1.33105724e-04 9.99893184e-01 -2.71234313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.02, Y:-20.87, Z:-2.71 [[ 9.87047389e-01 1.59762209e-01 1.46112709e-02 1.27019235e+02] [-1.59742428e-01 9.87155516e-01 -2.51853199e-03 -2.08717053e+01] [-1.48259629e-02 1.51870528e-04 9.99890078e-01 -2.71273245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.05, Y:-20.88, Z:-2.71 [[ 9.87522247e-01 1.56783207e-01 1.47931736e-02 1.27048074e+02] [-1.56762602e-01 9.87633022e-01 -2.54948702e-03 -2.08784735e+01] [-1.50099435e-02 1.98658757e-04 9.99887325e-01 -2.71350777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.08, Y:-20.88, Z:-2.71 [[ 9.87782634e-01 1.55128866e-01 1.48493670e-02 1.27078163e+02] [-1.55107921e-01 9.87894217e-01 -2.55895092e-03 -2.08846948e+01] [-1.50665709e-02 2.24432838e-04 9.99886468e-01 -2.71417053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.11, Y:-20.89, Z:-2.72 [[ 9.88047078e-01 1.53434645e-01 1.48587174e-02 1.27107822e+02] [-1.53413482e-01 9.88158766e-01 -2.56056226e-03 -2.08908388e+01] [-1.50756508e-02 2.50428478e-04 9.99886325e-01 -2.71512187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.14, Y:-20.90, Z:-2.72 [[ 9.88507523e-01 1.50421069e-01 1.50459096e-02 1.27137508e+02] [-1.50399021e-01 9.88621976e-01 -2.59277528e-03 -2.08992123e+01] [-1.52647249e-02 3.00087795e-04 9.99883442e-01 -2.71579146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.17, Y:-20.91, Z:-2.72 [[ 9.88737604e-01 1.48915314e-01 1.49056836e-02 1.27168519e+02] [-1.48893502e-01 9.88849901e-01 -2.56873288e-03 -2.09066625e+01] [-1.51220074e-02 3.20443355e-04 9.99885605e-01 -2.71640787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.018623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.20, Y:-20.92, Z:-2.72 [[ 9.89128723e-01 1.46380942e-01 1.40352544e-02 1.27198066e+02] [-1.46361353e-01 9.89228237e-01 -2.41840849e-03 -2.09160198e+01] [-1.42380789e-02 3.37898480e-04 9.99898576e-01 -2.71752991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.23, Y:-20.92, Z:-2.72 [[ 9.89299111e-01 1.45277976e-01 1.34751204e-02 1.27228767e+02] [-1.45259791e-01 9.89390819e-01 -2.32375304e-03 -2.09237794e+01] [-1.36697505e-02 3.41493645e-04 9.99906506e-01 -2.71788351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:-20.93, Z:-2.72 [[ 9.89488715e-01 1.44021408e-01 1.30352307e-02 1.27258595e+02] [-1.44004259e-01 9.89574511e-01 -2.24970140e-03 -2.09339706e+01] [-1.32233372e-02 3.48925404e-04 9.99912507e-01 -2.71873438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.29, Y:-20.94, Z:-2.72 [[ 9.89490875e-01 1.44001353e-01 1.30926665e-02 1.27290400e+02] [-1.43984026e-01 9.89577428e-01 -2.26146334e-03 -2.09416690e+01] [-1.32818611e-02 3.52562501e-04 9.99911730e-01 -2.71929103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.32, Y:-20.95, Z:-2.72 [[ 9.89436023e-01 1.44358123e-01 1.33074989e-02 1.27322125e+02] [-1.44340226e-01 9.89525445e-01 -2.30068321e-03 -2.09492503e+01] [-1.35002311e-02 3.55571440e-04 9.99908805e-01 -2.71935948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.35, Y:-20.96, Z:-2.72 [[ 9.89338345e-01 1.44994383e-01 1.36480308e-02 1.27353791e+02] [-1.44975589e-01 9.89432413e-01 -2.36172450e-03 -2.09568250e+01] [-1.38462408e-02 3.57913307e-04 9.99904072e-01 -2.72032140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.38, Y:-20.97, Z:-2.72 [[ 9.89070879e-01 1.46794450e-01 1.37907867e-02 1.27383714e+02] [-1.46775405e-01 9.89166960e-01 -2.38863518e-03 -2.09678278e+01] [-1.39920290e-02 3.38381180e-04 9.99902050e-01 -2.72068308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.41, Y:-20.98, Z:-2.72 [[ 9.88905636e-01 1.47883321e-01 1.40059109e-02 1.27413889e+02] [-1.47863758e-01 9.89004760e-01 -2.42793351e-03 -2.09764693e+01] [-1.42109634e-02 3.30030518e-04 9.99898965e-01 -2.72089915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.44, Y:-20.98, Z:-2.72 [[ 9.88753467e-01 1.48906721e-01 1.39057810e-02 1.27444587e+02] [-1.48887510e-01 9.88851197e-01 -2.41246104e-03 -2.09848563e+01] [-1.41099798e-02 3.14932105e-04 9.99900400e-01 -2.72141017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.47, Y:-21.00, Z:-2.72 [[ 9.88415298e-01 1.51192412e-01 1.32685009e-02 1.27474643e+02] [-1.51175097e-01 9.88504315e-01 -2.30416229e-03 -2.09961627e+01] [-1.34643422e-02 2.71602342e-04 9.99909315e-01 -2.72217467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:-21.01, Z:-2.72 [[ 9.88198196e-01 1.52601231e-01 1.33112741e-02 1.27505416e+02] [-1.52583922e-01 9.88287812e-01 -2.31234158e-03 -2.10051871e+01] [-1.35082362e-02 2.53965360e-04 9.99908727e-01 -2.72327330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.54, Y:-21.01, Z:-2.72 [[ 9.87949856e-01 1.54208654e-01 1.32201540e-02 1.27536578e+02] [-1.54191699e-01 9.88038277e-01 -2.29847844e-03 -2.10137790e+01] [-1.34164634e-02 2.32343446e-04 9.99909968e-01 -2.72377826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.57, Y:-21.03, Z:-2.72 [[ 9.87515438e-01 1.57000461e-01 1.28107156e-02 1.27567522e+02] [-1.56984751e-01 9.87598511e-01 -2.22911853e-03 -2.10251072e+01] [-1.30018163e-02 1.90201957e-04 9.99915455e-01 -2.72450291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.60, Y:-21.03, Z:-2.73 [[ 9.87318730e-01 1.58267341e-01 1.23763231e-02 1.27598925e+02] [-1.58252755e-01 9.87396283e-01 -2.15528201e-03 -2.10342071e+01] [-1.25614462e-02 1.69363056e-04 9.99921088e-01 -2.72532698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.438623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.63, Y:-21.04, Z:-2.73 [[ 9.87129143e-01 1.59455665e-01 1.22452384e-02 1.27631066e+02] [-1.59441458e-01 9.87205079e-01 -2.13411550e-03 -2.10437964e+01] [-1.24288584e-02 1.54248942e-04 9.99922747e-01 -2.72610094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:-21.06, Z:-2.73 [[ 9.86751353e-01 1.61788331e-01 1.20955637e-02 1.27662818e+02] [-1.61774619e-01 9.86825476e-01 -2.11006147e-03 -2.10563034e+01] [-1.22775937e-02 1.25350795e-04 9.99924620e-01 -2.72639372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:-21.07, Z:-2.73 [[ 9.86475950e-01 1.63445774e-01 1.22751272e-02 1.27695268e+02] [-1.63431755e-01 9.86552313e-01 -2.14342897e-03 -2.10651108e+01] [-1.24603895e-02 1.08295552e-04 9.99922360e-01 -2.72638826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.73, Y:-21.07, Z:-2.73 [[ 9.86184186e-01 1.65163109e-01 1.27239776e-02 1.27726856e+02] [-1.65148157e-01 9.86266262e-01 -2.22427353e-03 -2.10738973e+01] [-1.29165977e-02 9.22019354e-05 9.99916573e-01 -2.72705402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.76, Y:-21.09, Z:-2.73 [[ 9.85542531e-01 1.68892887e-01 1.34577652e-02 1.27757506e+02] [-1.68876467e-01 9.85634410e-01 -2.35555163e-03 -2.10853675e+01] [-1.36622724e-02 4.87964780e-05 9.99906666e-01 -2.72697395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:127.79, Y:-21.09, Z:-2.72 [[ 9.85163723e-01 1.71123700e-01 1.30045442e-02 1.27789735e+02] [-1.71108532e-01 9.85249552e-01 -2.27845562e-03 -2.10928732e+01] [-1.32026191e-02 1.94633453e-05 9.99912841e-01 -2.72087201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.82, Y:-21.10, Z:-2.73 [[ 9.84729795e-01 1.73558150e-01 1.35940657e-02 1.27820472e+02] [-1.73541766e-01 9.84823623e-01 -2.38470831e-03 -2.11010170e+01] [-1.38016426e-02 -1.08448494e-05 9.99904753e-01 -2.72791402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:127.85, Y:-21.11, Z:-2.73 [[ 9.84352500e-01 1.75699895e-01 1.34053106e-02 1.27851678e+02] [-1.75684123e-01 9.84443775e-01 -2.35440568e-03 -2.11086880e+01] [-1.36104434e-02 -3.75351182e-05 9.99907373e-01 -2.72869440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.678623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:127.88, Y:-21.12, Z:-2.72 [[ 9.83655004e-01 1.79680554e-01 1.17358795e-02 1.27884111e+02] [-1.79668743e-01 9.83725008e-01 -2.06175716e-03 -2.11175151e+01] [-1.19153358e-02 -8.05129644e-05 9.99929007e-01 -2.72280063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:127.91, Y:-21.12, Z:-2.73 [[ 9.83286782e-01 1.81674565e-01 1.18935421e-02 1.27914894e+02] [-1.81662546e-01 9.83358705e-01 -2.09231603e-03 -2.11249379e+01] [-1.20757387e-02 -1.03264428e-04 9.99927080e-01 -2.73058180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.95, Y:-21.13, Z:-2.73 [[ 9.82952047e-01 1.83508499e-01 1.13975063e-02 1.27947322e+02] [-1.83497577e-01 9.83018116e-01 -2.00575231e-03 -2.11324597e+01] [-1.15720278e-02 -1.19856450e-04 9.99933035e-01 -2.73086708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.98, Y:-21.14, Z:-2.73 [[ 9.82655469e-01 1.85096860e-01 1.12863100e-02 1.27978366e+02] [-1.85086228e-01 9.82720273e-01 -1.98843516e-03 -2.11401538e+01] [-1.14593387e-02 -1.34993852e-04 9.99934331e-01 -2.73175331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.01, Y:-21.15, Z:-2.73 [[ 9.82303794e-01 1.86948288e-01 1.13839308e-02 1.28010482e+02] [-1.86937572e-01 9.82369744e-01 -2.00763638e-03 -2.11492096e+01] [-1.15585534e-02 -1.55975554e-04 9.99933186e-01 -2.73170382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.828623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.04, Y:-21.16, Z:-2.73 [[ 9.82210851e-01 1.87424897e-01 1.15651143e-02 1.28042601e+02] [-1.87413845e-01 9.82278923e-01 -2.04175377e-03 -2.11560062e+01] [-1.17428435e-02 -1.62029842e-04 9.99931037e-01 -2.73205096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.07, Y:-21.16, Z:-2.73 [[ 9.82128723e-01 1.87836729e-01 1.18547439e-02 1.28073784e+02] [-1.87825116e-01 9.82200252e-01 -2.09541919e-03 -2.11626089e+01] [-1.20373291e-02 -1.68647277e-04 9.99927535e-01 -2.73228907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.11, Y:-21.17, Z:-2.73 [[ 9.82110648e-01 1.87891169e-01 1.24733426e-02 1.28105462e+02] [-1.87878286e-01 9.82189838e-01 -2.20727221e-03 -2.11691080e+01] [-1.26659173e-02 -1.75684688e-04 9.99919769e-01 -2.73325585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.14, Y:-21.18, Z:-2.73 [[ 9.82382955e-01 1.86454022e-01 1.25947046e-02 1.28137770e+02] [-1.86440741e-01 9.82463675e-01 -2.23096032e-03 -2.11774393e+01] [-1.27898113e-02 -1.56508661e-04 9.99918195e-01 -2.73366924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:-21.18, Z:-2.73 [[ 9.82492264e-01 1.85872722e-01 1.26603081e-02 1.28168995e+02] [-1.85859219e-01 9.82573819e-01 -2.24519755e-03 -2.11842827e+01] [-1.28570083e-02 -1.47145755e-04 9.99917334e-01 -2.73400078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.20, Y:-21.19, Z:-2.73 [[ 9.82636495e-01 1.85068937e-01 1.32290363e-02 1.28201032e+02] [-1.85054086e-01 9.82725531e-01 -2.34875059e-03 -2.11911071e+01] [-1.34351925e-02 -1.40119164e-04 9.99909734e-01 -2.73453143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.23, Y:-21.20, Z:-2.74 [[ 9.82757574e-01 1.84425516e-01 1.32204187e-02 1.28233020e+02] [-1.84410597e-01 9.82846485e-01 -2.34934579e-03 -2.11977795e+01] [-1.34269214e-02 -1.29147941e-04 9.99909846e-01 -2.73519126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:128.27, Y:-21.20, Z:-2.73 [[ 9.82913641e-01 1.83641006e-01 1.25202194e-02 1.28265685e+02] [-1.83627533e-01 9.82993372e-01 -2.22710016e-03 -2.12040838e+01] [-1.27162796e-02 -1.10009885e-04 9.99919139e-01 -2.72854671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:128.30, Y:-21.21, Z:-2.73 [[ 9.82933660e-01 1.83502980e-01 1.29644618e-02 1.28296975e+02] [-1.83488487e-01 9.83019147e-01 -2.30889849e-03 -2.12110748e+01] [-1.31680039e-02 -1.09335422e-04 9.99913292e-01 -2.72887503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.33, Y:-21.22, Z:-2.74 [[ 9.82825165e-01 1.84021471e-01 1.38128118e-02 1.28328831e+02] [-1.84005031e-01 9.82922216e-01 -2.46272624e-03 -2.12174056e+01] [-1.40301141e-02 -1.21197552e-04 9.99901566e-01 -2.73603951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.36, Y:-21.22, Z:-2.74 [[ 9.82715033e-01 1.84636366e-01 1.34379044e-02 1.28360056e+02] [-1.84620823e-01 9.82806897e-01 -2.39882957e-03 -2.12226698e+01] [-1.36497763e-02 -1.23551102e-04 9.99906830e-01 -2.73633010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.39, Y:-21.23, Z:-2.74 [[ 9.82700800e-01 1.84712125e-01 1.34375791e-02 1.28393000e+02] [-1.84696565e-01 9.82792662e-01 -2.40065020e-03 -2.12287015e+01] [-1.36497834e-02 -1.22753834e-04 9.99906830e-01 -2.73697670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.43, Y:-21.23, Z:-2.74 [[ 9.82513304e-01 1.85665883e-01 1.39923926e-02 1.28425207e+02] [-1.85649099e-01 9.82612925e-01 -2.50041255e-03 -2.12349156e+01] [-1.42133471e-02 -1.40986471e-04 9.99898975e-01 -2.73778455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.218623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.46, Y:-21.24, Z:-2.74 [[ 9.82453039e-01 1.85982143e-01 1.40238275e-02 1.28457253e+02] [-1.85965279e-01 9.82553114e-01 -2.50863044e-03 -2.12404539e+01] [-1.42457158e-02 -1.43333387e-04 9.99898514e-01 -2.73819118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:-21.25, Z:-2.74 [[ 9.82409334e-01 1.86232203e-01 1.37647083e-02 1.28489613e+02] [-1.86215945e-01 9.82505749e-01 -2.46479287e-03 -2.12457450e+01] [-1.39829288e-02 -1.41772640e-04 9.99902224e-01 -2.73876456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.278623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:128.52, Y:-21.25, Z:-2.74 [[ 9.82391559e-01 1.86367531e-01 1.31897324e-02 1.28520911e+02] [-1.86352583e-01 9.82480089e-01 -2.36427381e-03 -2.12505284e+01] [-1.33992733e-02 -1.35298066e-04 9.99910217e-01 -2.73652192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.55, Y:-21.26, Z:-2.74 [[ 9.82534743e-01 1.85597965e-01 1.33743596e-02 1.28553542e+02] [-1.85582492e-01 9.82625758e-01 -2.39971735e-03 -2.12558216e+01] [-1.35873729e-02 -1.24241326e-04 9.99907680e-01 -2.74058508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.59, Y:-21.26, Z:-2.74 [[ 9.82643239e-01 1.85040390e-01 1.31270251e-02 1.28586094e+02] [-1.85025402e-01 9.82730910e-01 -2.35780898e-03 -2.12617781e+01] [-1.33366232e-02 -1.11948043e-04 9.99911057e-01 -2.74075254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.62, Y:-21.27, Z:-2.74 [[ 9.82766229e-01 1.84394001e-01 1.30150836e-02 1.28618446e+02] [-1.84379177e-01 9.82852401e-01 -2.34017595e-03 -2.12678187e+01] [-1.32234205e-02 -9.98645076e-05 9.99912562e-01 -2.74136009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.65, Y:-21.27, Z:-2.74 [[ 9.82938731e-01 1.83435300e-01 1.35255955e-02 1.28650435e+02] [-1.83419160e-01 9.83031781e-01 -2.43486567e-03 -2.12729992e+01] [-1.37427306e-02 -8.75295891e-05 9.99905560e-01 -2.74169389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:-21.28, Z:-2.74 [[ 9.83039642e-01 1.82856455e-01 1.40206461e-02 1.28682909e+02] [-1.82839016e-01 9.83139619e-01 -2.52663347e-03 -2.12781684e+01] [-1.42462639e-02 -7.97402743e-05 9.99898514e-01 -2.74229360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.71, Y:-21.28, Z:-2.74 [[ 9.83140505e-01 1.82314243e-01 1.40094401e-02 1.28714506e+02] [-1.82296737e-01 9.83240312e-01 -2.52741619e-03 -2.12832860e+01] [-1.42354302e-02 -6.90699767e-05 9.99898669e-01 -2.74264780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:128.75, Y:-21.29, Z:-2.74 [[ 9.83264989e-01 1.81678709e-01 1.35206589e-02 1.28746964e+02] [-1.81662312e-01 9.83357943e-01 -2.44148912e-03 -2.12877751e+01] [-1.37392139e-02 -5.55633744e-05 9.99905611e-01 -2.73880976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.78, Y:-21.29, Z:-2.74 [[ 9.83388746e-01 1.81012519e-01 1.34551649e-02 1.28778583e+02] [-1.80996181e-01 9.83480791e-01 -2.43240816e-03 -2.12921087e+01] [-1.36731925e-02 -4.33306464e-05 9.99906517e-01 -2.74461188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.81, Y:-21.30, Z:-2.75 [[ 9.83441620e-01 1.80762651e-01 1.29400554e-02 1.28811368e+02] [-1.80747488e-01 9.83526747e-01 -2.34154611e-03 -2.12972401e+01] [-1.31501547e-02 -3.61086097e-05 9.99913532e-01 -2.74531813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.84, Y:-21.30, Z:-2.75 [[ 9.83472396e-01 1.80610417e-01 1.27249189e-02 1.28843679e+02] [-1.80595711e-01 9.83554714e-01 -2.30496776e-03 -2.13025593e+01] [-1.29319552e-02 -3.11936239e-05 9.99916378e-01 -2.74601400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.608623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.88, Y:-21.31, Z:-2.75 [[ 9.83486936e-01 1.80530218e-01 1.27391587e-02 1.28875265e+02] [-1.80515434e-01 9.83569438e-01 -2.31054530e-03 -2.13074141e+01] [-1.29469704e-02 -2.72236384e-05 9.99916184e-01 -2.74673556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.91, Y:-21.31, Z:-2.75 [[ 9.83523161e-01 1.80364648e-01 1.22794516e-02 1.28906941e+02] [-1.80350885e-01 9.83599814e-01 -2.22819826e-03 -2.13105314e+01] [-1.24799545e-02 -2.31253667e-05 9.99922122e-01 -2.74732107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:-21.32, Z:-2.75 [[ 9.83529818e-01 1.80333097e-01 1.22094432e-02 1.28939651e+02] [-1.80319462e-01 9.83605599e-01 -2.21759276e-03 -2.13155266e+01] [-1.24091821e-02 -2.05316290e-05 9.99923003e-01 -2.74785547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.97, Y:-21.32, Z:-2.75 [[ 9.83565580e-01 1.80110705e-01 1.26049093e-02 1.28972797e+02] [-1.80096121e-01 9.83646346e-01 -2.29202916e-03 -2.13204735e+01] [-1.28115920e-02 -1.57342853e-05 9.99917928e-01 -2.74797800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:-21.32, Z:-2.75 [[ 9.83770913e-01 1.78940030e-01 1.32384581e-02 1.29004150e+02] [-1.78923798e-01 9.83859983e-01 -2.41011963e-03 -2.13242168e+01] [-1.34560561e-02 2.33038175e-06 9.99909463e-01 -2.74830474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:-21.33, Z:-2.75 [[ 9.83878436e-01 1.78322544e-01 1.35754852e-02 1.29036776e+02] [-1.78305381e-01 9.83972088e-01 -2.47402475e-03 -2.13298014e+01] [-1.37990729e-02 1.35575247e-05 9.99904788e-01 -2.74904314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.07, Y:-21.34, Z:-2.75 [[ 9.84082013e-01 1.77191217e-01 1.36331993e-02 1.29069693e+02] [-1.77173762e-01 9.84176443e-01 -2.48724183e-03 -2.13356705e+01] [-1.38581910e-02 3.22047383e-05 9.99903970e-01 -2.74965359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.10, Y:-21.34, Z:-2.75 [[ 9.84330412e-01 1.75840514e-01 1.31815833e-02 1.29101178e+02] [-1.75824041e-01 9.84418667e-01 -2.40738456e-03 -2.13409157e+01] [-1.33995124e-02 5.20225931e-05 9.99910221e-01 -2.74672427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.13, Y:-21.35, Z:-2.75 [[ 9.84741848e-01 1.73491333e-01 1.35738671e-02 1.29132199e+02] [-1.73473607e-01 9.84835392e-01 -2.48160641e-03 -2.13465889e+01] [-1.37985619e-02 8.90340007e-05 9.99904791e-01 -2.75068545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:-21.35, Z:-2.75 [[ 9.84890448e-01 1.72628159e-01 1.37957956e-02 1.29164383e+02] [-1.72609728e-01 9.84987060e-01 -2.52468264e-03 -2.13526648e+01] [-1.40245114e-02 1.05247295e-04 9.99901646e-01 -2.75112812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:-21.36, Z:-2.75 [[ 9.85032404e-01 1.71808762e-01 1.38892591e-02 1.29195358e+02] [-1.71789961e-01 9.85130314e-01 -2.54455631e-03 -2.13584559e+01] [-1.41199072e-02 1.20435146e-04 9.99900302e-01 -2.75131780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.23, Y:-21.36, Z:-2.75 [[ 9.85146793e-01 1.71138177e-01 1.40542072e-02 1.29227471e+02] [-1.71118822e-01 9.85247028e-01 -2.57728019e-03 -2.13644054e+01] [-1.42879369e-02 1.34059935e-04 9.99897913e-01 -2.75185885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.26, Y:-21.37, Z:-2.75 [[ 9.85245734e-01 1.70554288e-01 1.42154370e-02 1.29259100e+02] [-1.70534384e-01 9.85348270e-01 -2.60966724e-03 -2.13698913e+01] [-1.44522462e-02 1.46942713e-04 9.99895550e-01 -2.75193051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.998623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.29, Y:-21.38, Z:-2.75 [[ 9.85257915e-01 1.70504122e-01 1.39708893e-02 1.29291249e+02] [-1.70484859e-01 9.85356952e-01 -2.56715264e-03 -2.13761957e+01] [-1.42040230e-02 1.47482352e-04 9.99899107e-01 -2.75189966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.32, Y:-21.38, Z:-2.75 [[ 9.85234711e-01 1.70649402e-01 1.38328040e-02 1.29322314e+02] [-1.70630495e-01 9.85331802e-01 -2.54441316e-03 -2.13826807e+01] [-1.40641043e-02 1.46545961e-04 9.99901085e-01 -2.75261694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:-21.39, Z:-2.75 [[ 9.85139418e-01 1.71218654e-01 1.35830361e-02 1.29354197e+02] [-1.71200446e-01 9.85233045e-01 -2.50081871e-03 -2.13881536e+01] [-1.38106429e-02 1.38233249e-04 9.99904619e-01 -2.75291699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.39, Y:-21.39, Z:-2.75 [[ 9.85068009e-01 1.71626115e-01 1.36196652e-02 1.29386812e+02] [-1.71607814e-01 9.85162148e-01 -2.50989980e-03 -2.13936295e+01] [-1.38483430e-02 1.35181019e-04 9.99904098e-01 -2.75320940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:-21.40, Z:-2.75 [[ 9.84912055e-01 1.72513016e-01 1.36931773e-02 1.29419139e+02] [-1.72494568e-01 9.85007230e-01 -2.52600706e-03 -2.13996658e+01] [-1.39236477e-02 1.25896108e-04 9.99903053e-01 -2.75365387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.45, Y:-21.41, Z:-2.75 [[ 9.84737730e-01 1.73503656e-01 1.37143747e-02 1.29451056e+02] [-1.73485211e-01 9.84833218e-01 -2.53245312e-03 -2.14060477e+01] [-1.39457617e-02 1.14560943e-04 9.99902747e-01 -2.75412569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.48, Y:-21.41, Z:-2.75 [[ 9.84640044e-01 1.74053538e-01 1.37604671e-02 1.29483759e+02] [-1.74034987e-01 9.84736185e-01 -2.54347037e-03 -2.14122480e+01] [-1.39931299e-02 1.09600067e-04 9.99902085e-01 -2.75454444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.52, Y:-21.42, Z:-2.76 [[ 9.84540596e-01 1.74609577e-01 1.38314954e-02 1.29516063e+02] [-1.74590852e-01 9.84637743e-01 -2.55927136e-03 -2.14186695e+01] [-1.40658857e-02 1.04853976e-04 9.99901065e-01 -2.75522027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.55, Y:-21.43, Z:-2.76 [[ 9.84435286e-01 1.75203443e-01 1.38174373e-02 1.29548239e+02] [-1.75184776e-01 9.84532246e-01 -2.55939905e-03 -2.14252733e+01] [-1.40521281e-02 9.89580848e-05 9.99901259e-01 -2.75570772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.58, Y:-21.43, Z:-2.76 [[ 9.84242064e-01 1.76269534e-01 1.40217730e-02 1.29579610e+02] [-1.76250377e-01 9.84341934e-01 -2.60016690e-03 -2.14320615e+01] [-1.42605494e-02 8.78508465e-05 9.99898309e-01 -2.75594590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:129.61, Y:-21.44, Z:-2.76 [[ 9.84165112e-01 1.76687375e-01 1.41634463e-02 1.29611973e+02] [-1.76667835e-01 9.84267019e-01 -2.62904641e-03 -2.14380657e+01] [-1.44051324e-02 8.51903570e-05 9.99896237e-01 -2.75638856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:-21.44, Z:-2.76 [[ 9.84015852e-01 1.77523722e-01 1.40759068e-02 1.29643826e+02] [-1.77504468e-01 9.84116519e-01 -2.61564136e-03 -2.14441655e+01] [-1.43166708e-02 7.52962194e-05 9.99897508e-01 -2.75685859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:-21.45, Z:-2.76 [[ 9.83838922e-01 1.78490258e-01 1.42198149e-02 1.29676401e+02] [-1.78470671e-01 9.83941677e-01 -2.64497165e-03 -2.14507215e+01] [-1.44635702e-02 6.44061569e-05 9.99895395e-01 -2.75770246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:-21.46, Z:-2.76 [[ 9.83454864e-01 1.80557772e-01 1.46772702e-02 1.29707811e+02] [-1.80537088e-01 9.83564380e-01 -2.73321192e-03 -2.14574344e+01] [-1.49295429e-02 3.81989308e-05 9.99888547e-01 -2.75838243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.74, Y:-21.46, Z:-2.76 [[ 9.83269312e-01 1.81596330e-01 1.42910409e-02 1.29739149e+02] [-1.81576792e-01 9.83373160e-01 -2.66392501e-03 -2.14637644e+01] [-1.45371851e-02 2.44343490e-05 9.99894329e-01 -2.75860543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.77, Y:-21.47, Z:-2.76 [[ 9.83112962e-01 1.82449095e-01 1.41856385e-02 1.29771996e+02] [-1.82429897e-01 9.83215301e-01 -2.64674803e-03 -2.14702507e+01] [-1.44304336e-02 1.41677310e-05 9.99895876e-01 -2.75909709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.80, Y:-21.48, Z:-2.76 [[ 9.83012929e-01 1.83005010e-01 1.39552082e-02 1.29803717e+02] [-1.82986447e-01 9.83111981e-01 -2.60646940e-03 -2.14769648e+01] [-1.41965293e-02 8.57915011e-06 9.99899224e-01 -2.76024722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:-21.48, Z:-2.76 [[ 9.83098576e-01 1.82553285e-01 1.38379075e-02 1.29835663e+02] [-1.82534955e-01 9.83195961e-01 -2.58696615e-03 -2.14835462e+01] [-1.40776339e-02 1.73409088e-05 9.99900905e-01 -2.76129143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.87, Y:-21.49, Z:-2.76 [[ 9.83256460e-01 1.81704187e-01 1.37957469e-02 1.29866820e+02] [-1.81685846e-01 9.83353236e-01 -2.58184900e-03 -2.14902409e+01] [-1.40352251e-02 3.21277578e-05 9.99901501e-01 -2.76216153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.90, Y:-21.50, Z:-2.76 [[ 9.83476810e-01 1.80516287e-01 1.36833845e-02 1.29899263e+02] [-1.80498094e-01 9.83571994e-01 -2.56326919e-03 -2.14974284e+01] [-1.39213056e-02 5.10909753e-05 9.99903093e-01 -2.76265714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:129.93, Y:-21.51, Z:-2.76 [[ 9.84150464e-01 1.76803312e-01 1.37277879e-02 1.29931077e+02] [-1.76784604e-01 9.84246198e-01 -2.57417985e-03 -2.15059459e+01] [-1.39666466e-02 1.06518741e-04 9.99902456e-01 -2.76385868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:129.96, Y:-21.51, Z:-2.76 [[ 9.84501446e-01 1.74887943e-01 1.30809164e-02 1.29963956e+02] [-1.74870755e-01 9.84588336e-01 -2.45527954e-03 -2.15126589e+01] [-1.33087165e-02 1.29756519e-04 9.99911427e-01 -2.75811455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:-21.52, Z:-2.77 [[ 9.84834722e-01 1.72963281e-01 1.35747195e-02 1.29994746e+02] [-1.72944548e-01 9.84928259e-01 -2.55088457e-03 -2.15215717e+01] [-1.38113343e-02 1.64525962e-04 9.99904605e-01 -2.76583802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:-21.53, Z:-2.77 [[ 9.85179505e-01 1.71019424e-01 1.31795312e-02 1.30025394e+02] [-1.71001559e-01 9.85267639e-01 -2.47900814e-03 -2.15294685e+01] [-1.34093241e-02 1.88547625e-04 9.99910073e-01 -2.76678127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:-21.54, Z:-2.77 [[ 9.85773036e-01 1.67597126e-01 1.27563944e-02 1.30055663e+02] [-1.67580075e-01 9.85855542e-01 -2.40162995e-03 -2.15395929e+01] [-1.29784684e-02 2.29744521e-04 9.99915750e-01 -2.76767908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.09, Y:-21.55, Z:-2.77 [[ 9.85977538e-01 1.66369133e-01 1.30232733e-02 1.30087533e+02] [-1.66351224e-01 9.86063511e-01 -2.45416136e-03 -2.15481946e+01] [-1.32500713e-02 2.53310520e-04 9.99912182e-01 -2.76848060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.12, Y:-21.56, Z:-2.77 [[ 9.86156218e-01 1.65317325e-01 1.28878155e-02 1.30118665e+02] [-1.65299662e-01 9.86240392e-01 -2.43124686e-03 -2.15566953e+01] [-1.31124114e-02 2.67237651e-04 9.99913993e-01 -2.76926215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:-21.57, Z:-2.77 [[ 9.86266055e-01 1.64652242e-01 1.29964661e-02 1.30150930e+02] [-1.64634191e-01 9.86351641e-01 -2.45412219e-03 -2.15653741e+01] [-1.32231624e-02 2.80754728e-04 9.99912531e-01 -2.76913152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.18, Y:-21.58, Z:-2.77 [[ 9.86485440e-01 1.63326168e-01 1.30782379e-02 1.30181699e+02] [-1.63307732e-01 9.86572081e-01 -2.47263589e-03 -2.15761398e+01] [-1.33064706e-02 3.03441922e-04 9.99911419e-01 -2.76952592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:-21.58, Z:-2.77 [[ 9.86580329e-01 1.62769485e-01 1.28588409e-02 1.30212631e+02] [-1.62751599e-01 9.86664077e-01 -2.43240092e-03 -2.15848215e+01] [-1.30832770e-02 3.06961986e-04 9.99914363e-01 -2.77024103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:130.24, Y:-21.59, Z:-2.77 [[ 9.86642486e-01 1.62382564e-01 1.29810679e-02 1.30244894e+02] [-1.62364274e-01 9.86727826e-01 -2.45764569e-03 -2.15941384e+01] [-1.32078597e-02 3.17155988e-04 9.99912722e-01 -2.77085840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.27, Y:-21.61, Z:-2.77 [[ 9.86671805e-01 1.62153485e-01 1.36013162e-02 1.30274926e+02] [-1.62133338e-01 9.86765490e-01 -2.57839397e-03 -2.16062242e+01] [-1.38394050e-02 3.38801841e-04 9.99904173e-01 -2.77105827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:-21.62, Z:-2.77 [[ 9.86626223e-01 1.62410516e-01 1.38391152e-02 1.30306212e+02] [-1.62389664e-01 9.86723217e-01 -2.62493464e-03 -2.16158201e+01] [-1.40816932e-02 3.42500094e-04 9.99900789e-01 -2.77119292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:130.34, Y:-21.63, Z:-2.77 [[ 9.86512268e-01 1.63063911e-01 1.42725475e-02 1.30337932e+02] [-1.63041760e-01 9.86615447e-01 -2.70986709e-03 -2.16256249e+01] [-1.45233974e-02 3.46295861e-04 9.99894470e-01 -2.77138646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.37, Y:-21.64, Z:-2.77 [[ 9.86407553e-01 1.63645451e-01 1.48426676e-02 1.30369552e+02] [-1.63621515e-01 9.86519154e-01 -2.82117460e-03 -2.16352260e+01] [-1.51042483e-02 3.54248174e-04 9.99885862e-01 -2.77192054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:-21.65, Z:-2.77 [[ 9.86231248e-01 1.64676989e-01 1.51464366e-02 1.30399363e+02] [-1.64652133e-01 9.86347488e-01 -2.88223556e-03 -2.16475315e+01] [-1.54142875e-02 3.48657686e-04 9.99881132e-01 -2.77214500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.43, Y:-21.65, Z:-2.77 [[ 9.86210091e-01 1.64803676e-01 1.51461043e-02 1.30432224e+02] [-1.64778808e-01 9.86326329e-01 -2.88398050e-03 -2.16539585e+01] [-1.54142920e-02 3.48453660e-04 9.99881132e-01 -2.77279155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.46, Y:-21.66, Z:-2.77 [[ 9.86081975e-01 1.65577380e-01 1.50488910e-02 1.30464135e+02] [-1.65552894e-01 9.86196744e-01 -2.86720613e-03 -2.16637124e+01] [-1.53159118e-02 3.35912834e-04 9.99882648e-01 -2.77426182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:-21.67, Z:-2.77 [[ 9.85909676e-01 1.66631149e-01 1.47027163e-02 1.30494655e+02] [-1.66607851e-01 9.86019250e-01 -2.80412250e-03 -2.16734660e+01] [-1.49644155e-02 3.15023528e-04 9.99887977e-01 -2.77487501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:130.53, Y:-21.68, Z:-2.78 [[ 9.85661112e-01 1.68115343e-01 1.44707660e-02 1.30526751e+02] [-1.68092896e-01 9.85767289e-01 -2.76243579e-03 -2.16831794e+01] [-1.47292157e-02 2.90392560e-04 9.99891477e-01 -2.77552903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:-21.70, Z:-2.78 [[ 9.85024325e-01 1.71811036e-01 1.44238106e-02 1.30556558e+02] [-1.71789088e-01 9.85129896e-01 -2.75637533e-03 -2.16958769e+01] [-1.46829027e-02 2.37243490e-04 9.99892172e-01 -2.77636873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.59, Y:-21.71, Z:-2.78 [[ 9.84599457e-01 1.74237228e-01 1.43281987e-02 1.30588125e+02] [-1.74215789e-01 9.84703685e-01 -2.74066898e-03 -2.17052689e+01] [-1.45865566e-02 2.02262738e-04 9.99893590e-01 -2.77689452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:130.62, Y:-21.71, Z:-2.77 [[ 9.84119919e-01 1.76983651e-01 1.35930784e-02 1.30619813e+02] [-1.76964583e-01 9.84213779e-01 -2.60251891e-03 -2.17136575e+01] [-1.38390983e-02 1.55697254e-04 9.99904223e-01 -2.77164393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.65, Y:-21.72, Z:-2.78 [[ 9.83589573e-01 1.79870877e-01 1.40719059e-02 1.30650725e+02] [-1.79850695e-01 9.83690222e-01 -2.69717343e-03 -2.17234038e+01] [-1.43275391e-02 1.22069609e-04 9.99897348e-01 -2.77821475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:-21.73, Z:-2.78 [[ 9.82345750e-01 1.86569376e-01 1.37366658e-02 1.30681966e+02] [-1.86550764e-01 9.82441788e-01 -2.63533253e-03 -2.17343978e+01] [-1.39871469e-02 2.62222042e-05 9.99902175e-01 -2.77888819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:-21.74, Z:-2.78 [[ 9.81690736e-01 1.89974374e-01 1.38937686e-02 1.30714072e+02] [-1.89955638e-01 9.81789049e-01 -2.66813393e-03 -2.17427290e+01] [-1.41476270e-02 -1.99173191e-05 9.99899917e-01 -2.77979235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:-21.75, Z:-2.78 [[ 9.81079662e-01 1.93112103e-01 1.37990132e-02 1.30746447e+02] [-1.93093895e-01 9.81176698e-01 -2.65249395e-03 -2.17510595e+01] [-1.40514989e-02 -6.21973456e-05 9.99901271e-01 -2.78065544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:-21.76, Z:-2.78 [[ 9.80507056e-01 1.96004560e-01 1.37158978e-02 1.30778807e+02] [-1.95986819e-01 9.80602979e-01 -2.63905072e-03 -2.17599201e+01] [-1.39671162e-02 -1.00527323e-04 9.99902450e-01 -2.78137345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.81, Y:-21.77, Z:-2.78 [[ 9.79978921e-01 1.98624750e-01 1.37667429e-02 1.30810271e+02] [-1.98607097e-01 9.80075604e-01 -2.65149582e-03 -2.17685022e+01] [-1.40191016e-02 -1.35762832e-04 9.99901718e-01 -2.78201659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.84, Y:-21.78, Z:-2.78 [[ 9.79068416e-01 2.03035793e-01 1.41951893e-02 1.30841644e+02] [-2.03017447e-01 9.79171296e-01 -2.73684183e-03 -2.17783308e+01] [-1.44551987e-02 -2.02315694e-04 9.99895498e-01 -2.78247075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.87, Y:-21.79, Z:-2.78 [[ 9.78705325e-01 2.04747796e-01 1.46365171e-02 1.30873880e+02] [-2.04728441e-01 9.78814735e-01 -2.82481046e-03 -2.17858935e+01] [-1.49048123e-02 -2.31854281e-04 9.99888890e-01 -2.78355375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.91, Y:-21.79, Z:-2.78 [[ 9.78401657e-01 2.06196420e-01 1.46025456e-02 1.30905849e+02] [-2.06177273e-01 9.78510589e-01 -2.82102064e-03 -2.17935392e+01] [-1.48704299e-02 -2.50621769e-04 9.99889398e-01 -2.78402453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.558623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:130.94, Y:-21.80, Z:-2.78 [[ 9.78064555e-01 2.07780648e-01 1.47285022e-02 1.30937481e+02] [-2.07761306e-01 9.78175407e-01 -2.84824341e-03 -2.18009610e+01] [-1.49988685e-02 -2.74246944e-04 9.99887473e-01 -2.78493665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.97, Y:-21.81, Z:-2.79 [[ 9.77446960e-01 2.10659934e-01 1.48267225e-02 1.30968150e+02] [-2.10640621e-01 9.77559354e-01 -2.87013787e-03 -2.18090890e+01] [-1.50986243e-02 -3.17702503e-04 9.99885959e-01 -2.78578071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.00, Y:-21.82, Z:-2.79 [[ 9.77108453e-01 2.12248379e-01 1.44808835e-02 1.31000704e+02] [-2.12230111e-01 9.77215695e-01 -2.80452182e-03 -2.18163564e+01] [-1.47462018e-02 -3.32957535e-04 9.99891213e-01 -2.78647597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:-21.82, Z:-2.79 [[ 9.76730014e-01 2.14016445e-01 1.39800221e-02 1.31031985e+02] [-2.13999564e-01 9.76829997e-01 -2.71005497e-03 -2.18228713e+01] [-1.42361012e-02 -3.44726586e-04 9.99898602e-01 -2.78720926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.06, Y:-21.83, Z:-2.79 [[ 9.76381180e-01 2.15624248e-01 1.36372803e-02 1.31063699e+02] [-2.15608305e-01 9.76476347e-01 -2.64620995e-03 -2.18287902e+01] [-1.38870687e-02 -3.56601304e-04 9.99903506e-01 -2.78837897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:131.10, Y:-21.83, Z:-2.79 [[ 9.75737328e-01 2.18581356e-01 1.26038519e-02 1.31095843e+02] [-2.18567972e-01 9.75818659e-01 -2.44660284e-03 -2.18333183e+01] [-1.28338556e-02 -3.67556619e-04 9.99917575e-01 -2.78918984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.738623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.13, Y:-21.84, Z:-2.79 [[ 9.75432536e-01 2.19942302e-01 1.25200775e-02 1.31128109e+02] [-2.19929181e-01 9.75512808e-01 -2.43240046e-03 -2.18389288e+01] [-1.27484837e-02 -3.80887833e-04 9.99918662e-01 -2.79026034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.16, Y:-21.84, Z:-2.79 [[ 9.75200089e-01 2.20967220e-01 1.25807402e-02 1.31159583e+02] [-2.20954026e-01 9.75281156e-01 -2.44654703e-03 -2.18439670e+01] [-1.28103656e-02 -3.93892331e-04 9.99917866e-01 -2.79141535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.19, Y:-21.85, Z:-2.79 [[ 9.75027896e-01 2.21715743e-01 1.27566384e-02 1.31192292e+02] [-2.21702214e-01 9.75111257e-01 -2.48289144e-03 -2.18497000e+01] [-1.29896378e-02 -4.07286558e-04 9.99915548e-01 -2.79204228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.828623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.22, Y:-21.86, Z:-2.79 [[ 9.74925564e-01 2.22147788e-01 1.30577454e-02 1.31224844e+02] [-2.22133620e-01 9.75012914e-01 -2.54392249e-03 -2.18555042e+01] [-1.32965972e-02 -4.20429192e-04 9.99911508e-01 -2.79272253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.858623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.26, Y:-21.86, Z:-2.79 [[ 9.74954461e-01 2.22010378e-01 1.32359682e-02 1.31256173e+02] [-2.21995770e-01 9.75044212e-01 -2.58142897e-03 -2.18608766e+01] [-1.34787582e-02 -4.21553251e-04 9.99909069e-01 -2.79315238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.29, Y:-21.87, Z:-2.79 [[ 9.75201788e-01 2.20909093e-01 1.34404258e-02 1.31288527e+02] [-2.20893911e-01 9.75294316e-01 -2.62235217e-03 -2.18654369e+01] [-1.36876723e-02 -4.11585698e-04 9.99906235e-01 -2.79420789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.918623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.32, Y:-21.87, Z:-2.79 [[ 9.75375967e-01 2.20134356e-01 1.35125035e-02 1.31320006e+02] [-2.20118894e-01 9.75469480e-01 -2.63950585e-03 -2.18708460e+01] [-1.37620807e-02 -3.99846750e-04 9.99905218e-01 -2.79498088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.35, Y:-21.88, Z:-2.80 [[ 9.75537057e-01 2.19423719e-01 1.34417615e-02 1.31352162e+02] [-2.19408334e-01 9.75629582e-01 -2.62693430e-03 -2.18766145e+01] [-1.36905918e-02 -3.86562736e-04 9.99906205e-01 -2.79575495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.38, Y:-21.88, Z:-2.80 [[ 9.75816982e-01 2.18187487e-01 1.32453481e-02 1.31384384e+02] [-2.18172399e-01 9.75906804e-01 -2.59114062e-03 -2.18807474e+01] [-1.34915798e-02 -3.61290364e-04 9.99908919e-01 -2.79685293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.42, Y:-21.89, Z:-2.80 [[ 9.75897029e-01 2.17856902e-01 1.27811982e-02 1.31417030e+02] [-2.17842798e-01 9.75980662e-01 -2.50245687e-03 -2.18855981e+01] [-1.30193798e-02 -3.42151745e-04 9.99915186e-01 -2.79763159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.45, Y:-21.89, Z:-2.80 [[ 9.75950853e-01 2.17634406e-01 1.24578256e-02 1.31448696e+02] [-2.17620958e-01 9.76030306e-01 -2.44154640e-03 -2.18899945e+01] [-1.26905799e-02 -3.28254656e-04 9.99919417e-01 -2.79885939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.48, Y:-21.90, Z:-2.80 [[ 9.75981749e-01 2.17504774e-01 1.23003414e-02 1.31481115e+02] [-2.17491627e-01 9.76059205e-01 -2.41275889e-03 -2.18950885e+01] [-1.25306480e-02 -3.20412627e-04 9.99921437e-01 -2.79951470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.51, Y:-21.90, Z:-2.80 [[ 9.75985622e-01 2.17454588e-01 1.28673174e-02 1.31513003e+02] [-2.17440156e-01 9.76070383e-01 -2.52712801e-03 -2.18993294e+01] [-1.31089430e-02 -3.31430906e-04 9.99914019e-01 -2.79990187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.54, Y:-21.90, Z:-2.80 [[ 9.75944063e-01 2.17613899e-01 1.33182660e-02 1.31544310e+02] [-2.17598429e-01 9.76034873e-01 -2.61742831e-03 -2.19042194e+01] [-1.35686808e-02 -3.43570135e-04 9.99907882e-01 -2.80026609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.58, Y:-21.91, Z:-2.80 [[ 9.75824537e-01 2.18131823e-01 1.36007436e-02 1.31576952e+02] [-2.18115722e-01 9.75919249e-01 -2.67423266e-03 -2.19088355e+01] [-1.38565627e-02 -3.56954155e-04 9.99903930e-01 -2.80087392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.61, Y:-21.91, Z:-2.80 [[ 9.75607116e-01 2.19085643e-01 1.38649437e-02 1.31609456e+02] [-2.19068967e-01 9.75705560e-01 -2.72890855e-03 -2.19133932e+01] [-1.41259673e-02 -3.75036296e-04 9.99900153e-01 -2.80137145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.64, Y:-21.92, Z:-2.80 [[ 9.75455465e-01 2.19750526e-01 1.40122366e-02 1.31641157e+02] [-2.19733523e-01 9.75556025e-01 -2.76068604e-03 -2.19173838e+01] [-1.42763840e-02 -3.86031830e-04 9.99898013e-01 -2.80185475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.67, Y:-21.92, Z:-2.80 [[ 9.75140824e-01 2.21156339e-01 1.37929990e-02 1.31674830e+02] [-2.21139972e-01 9.75238286e-01 -2.71983773e-03 -2.19192924e+01] [-1.40529701e-02 -3.97958606e-04 9.99901173e-01 -2.80290090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:-21.92, Z:-2.80 [[ 9.74993155e-01 2.21794766e-01 1.39796382e-02 1.31706449e+02] [-2.21777975e-01 9.75093285e-01 -2.75970816e-03 -2.19227511e+01] [-1.42435402e-02 -4.09679292e-04 9.99898472e-01 -2.80387328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.74, Y:-21.93, Z:-2.80 [[ 9.74851793e-01 2.22412369e-01 1.40256610e-02 1.31738979e+02] [-2.22395512e-01 9.74952595e-01 -2.77011152e-03 -2.19266264e+01] [-1.42904616e-02 -4.18795873e-04 9.99897798e-01 -2.80450127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.338623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.77, Y:-21.93, Z:-2.80 [[ 9.74727016e-01 2.22980992e-01 1.36645724e-02 1.31771548e+02] [-2.22965013e-01 9.74822705e-01 -2.70131565e-03 -2.19303041e+01] [-1.39228775e-02 -4.13676222e-04 9.99902986e-01 -2.80494100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.80, Y:-21.93, Z:-2.81 [[ 9.74686388e-01 2.23172012e-01 1.34423946e-02 1.31803508e+02] [-2.23156530e-01 9.74778994e-01 -2.65998689e-03 -2.19336510e+01] [-1.36969985e-02 -4.07105121e-04 9.99906109e-01 -2.80560047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.84, Y:-21.93, Z:-2.81 [[ 9.74692513e-01 2.23129687e-01 1.36984513e-02 1.31837120e+02] [-2.23113572e-01 9.74788681e-01 -2.71310185e-03 -2.19342259e+01] [-1.39584689e-02 -4.11870347e-04 9.99902491e-01 -2.80619627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.87, Y:-21.94, Z:-2.81 [[ 9.74725535e-01 2.22978000e-01 1.38182463e-02 1.31869862e+02] [-2.22961548e-01 9.74823391e-01 -2.73951380e-03 -2.19381770e+01] [-1.40812010e-02 -4.10663545e-04 9.99900771e-01 -2.80681940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.90, Y:-21.94, Z:-2.81 [[ 9.75039345e-01 2.21575763e-01 1.42287608e-02 1.31902019e+02] [-2.21558128e-01 9.75143078e-01 -2.82381846e-03 -2.19386656e+01] [-1.45007673e-02 -3.99163507e-04 9.99894779e-01 -2.80645468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:131.94, Y:-21.94, Z:-2.81 [[ 9.75289528e-01 2.20446372e-01 1.46196379e-02 1.31935148e+02] [-2.20427589e-01 9.75399018e-01 -2.90402298e-03 -2.19418885e+01] [-1.49001618e-02 -3.90308341e-04 9.99888910e-01 -2.80729015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.97, Y:-21.95, Z:-2.81 [[ 9.75646775e-01 2.18847180e-01 1.48082069e-02 1.31967065e+02] [-2.18827679e-01 9.75759077e-01 -2.94454708e-03 -2.19450394e+01] [-1.50936481e-02 -3.67607677e-04 9.99886017e-01 -2.80806625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.548623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.00, Y:-21.95, Z:-2.81 [[ 9.76030348e-01 2.17106912e-01 1.51442505e-02 1.32000273e+02] [-2.17086261e-01 9.76147770e-01 -3.01425273e-03 -2.19493336e+01] [-1.54374415e-02 -3.45606587e-04 9.99880776e-01 -2.80912640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:-21.95, Z:-2.81 [[ 9.76482012e-01 2.15066417e-01 1.51431947e-02 1.32032153e+02] [-2.15045474e-01 9.76599375e-01 -3.01727983e-03 -2.19537541e+01] [-1.54377501e-02 -3.10156009e-04 9.99880783e-01 -2.80942158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.06, Y:-21.96, Z:-2.81 [[ 9.76953358e-01 2.12904726e-01 1.52877291e-02 1.32064538e+02] [-2.12883092e-01 9.77072925e-01 -3.04769447e-03 -2.19576925e+01] [-1.55860947e-02 -2.77043695e-04 9.99878491e-01 -2.81051955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.638623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.10, Y:-21.96, Z:-2.81 [[ 9.77854720e-01 2.08783785e-01 1.44733471e-02 1.32097988e+02] [-2.08763905e-01 9.77961805e-01 -2.88794411e-03 -2.19595218e+01] [-1.47573366e-02 -1.97522684e-04 9.99891085e-01 -2.81168082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.668623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.13, Y:-21.96, Z:-2.81 [[ 9.78227376e-01 2.07053029e-01 1.41507618e-02 1.32129726e+02] [-2.07033804e-01 9.78329707e-01 -2.82631841e-03 -2.19643056e+01] [-1.44293084e-02 -1.64903998e-04 9.99895879e-01 -2.81227636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:132.16, Y:-21.97, Z:-2.81 [[ 9.78581911e-01 2.05392647e-01 1.38312516e-02 1.32162803e+02] [-2.05374081e-01 9.78679642e-01 -2.76490392e-03 -2.19693302e+01] [-1.41042553e-02 -1.34895624e-04 9.99900521e-01 -2.81284428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:132.19, Y:-21.97, Z:-2.81 [[ 9.78899567e-01 2.03894735e-01 1.35119952e-02 1.32194939e+02] [-2.03876837e-01 9.78992812e-01 -2.70368867e-03 -2.19738710e+01] [-1.37794140e-02 -1.08143177e-04 9.99905054e-01 -2.81371443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:132.23, Y:-21.98, Z:-2.81 [[ 9.79595880e-01 2.00565322e-01 1.28632447e-02 1.32228463e+02] [-2.00548787e-01 9.79680330e-01 -2.57595869e-03 -2.19764970e+01] [-1.31185157e-02 -5.63095908e-05 9.99913947e-01 -2.81450936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.26, Y:-21.98, Z:-2.82 [[ 9.79887320e-01 1.99123951e-01 1.30572480e-02 1.32261003e+02] [-1.99106751e-01 9.79974311e-01 -2.61738974e-03 -2.19813318e+01] [-1.33169526e-02 -3.50392069e-05 9.99911325e-01 -2.81553153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.29, Y:-21.99, Z:-2.82 [[ 9.80183816e-01 1.97651698e-01 1.31716427e-02 1.32293180e+02] [-1.97634028e-01 9.80272312e-01 -2.64291047e-03 -2.19861688e+01] [-1.34341724e-02 -1.26267324e-05 9.99909757e-01 -2.81573847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:132.32, Y:-21.99, Z:-2.82 [[ 9.80452786e-01 1.96286749e-01 1.35590333e-02 1.32324528e+02] [-1.96267850e-01 9.80546537e-01 -2.72380194e-03 -2.19911748e+01] [-1.38299094e-02 9.35688913e-06 9.99904362e-01 -2.81636867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.36, Y:-22.00, Z:-2.82 [[ 9.80832018e-01 1.94346424e-01 1.40719897e-02 1.32355900e+02] [-1.94325842e-01 9.80932957e-01 -2.82866565e-03 -2.19950186e+01] [-1.43534195e-02 3.98945961e-05 9.99896984e-01 -2.81640396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.39, Y:-22.00, Z:-2.82 [[ 9.80935614e-01 1.93800443e-01 1.43774306e-02 1.32388877e+02] [-1.93778877e-01 9.81040971e-01 -2.89152469e-03 -2.20004959e+01] [-1.46652272e-02 5.03571892e-05 9.99892459e-01 -2.81703729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.42, Y:-22.01, Z:-2.82 [[ 9.80901722e-01 1.93953866e-01 1.46188115e-02 1.32421343e+02] [-1.93931545e-01 9.81010650e-01 -2.94293122e-03 -2.20059741e+01] [-1.49120027e-02 5.16776000e-05 9.99888809e-01 -2.81729886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:132.45, Y:-22.01, Z:-2.82 [[ 9.80885242e-01 1.94037242e-01 1.46181464e-02 1.32454146e+02] [-1.94014881e-01 9.80994162e-01 -2.94623119e-03 -2.20127248e+01] [-1.49119948e-02 5.37767720e-05 9.99888809e-01 -2.81794562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.998623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.49, Y:-22.02, Z:-2.82 [[ 9.80779900e-01 1.94569244e-01 1.46149435e-02 1.32486164e+02] [-1.94546939e-01 9.80888784e-01 -2.94644919e-03 -2.20173559e+01] [-1.49089226e-02 4.65256126e-05 9.99888855e-01 -2.81824237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.52, Y:-22.02, Z:-2.82 [[ 9.80575819e-01 1.95601125e-01 1.45348885e-02 1.32517524e+02] [-1.95579136e-01 9.80683537e-01 -2.93304906e-03 -2.20214198e+01] [-1.48278336e-02 3.33560527e-05 9.99890061e-01 -2.81896780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.058623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.55, Y:-22.02, Z:-2.82 [[ 9.79995636e-01 1.98533298e-01 1.38954441e-02 1.32551200e+02] [-1.98513463e-01 9.80094143e-01 -2.80632032e-03 -2.20233196e+01] [-1.41759914e-02 -8.25106169e-06 9.99899516e-01 -2.81978426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:132.58, Y:-22.03, Z:-2.82 [[ 9.79678393e-01 2.00125155e-01 1.34226526e-02 1.32583810e+02] [-2.00106762e-01 9.79770341e-01 -2.71334687e-03 -2.20276579e+01] [-1.36941259e-02 -2.77562623e-05 9.99906231e-01 -2.82083783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:-22.03, Z:-2.82 [[ 9.79407259e-01 2.01442262e-01 1.35068792e-02 1.32616447e+02] [-2.01423726e-01 9.79500390e-01 -2.73300514e-03 -2.20322019e+01] [-1.37805361e-02 -4.38808633e-05 9.99905043e-01 -2.82186579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:132.65, Y:-22.04, Z:-2.82 [[ 9.79116548e-01 2.02841546e-01 1.36415535e-02 1.32648493e+02] [-2.02822734e-01 9.79211572e-01 -2.76313734e-03 -2.20366819e+01] [-1.39184461e-02 -6.13836814e-05 9.99903132e-01 -2.82242757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.178623853 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:132.68, Y:-22.04, Z:-2.82 [[ 9.78811848e-01 2.04284870e-01 1.39662920e-02 1.32680064e+02] [-2.04265258e-01 9.78911480e-01 -2.83179094e-03 -2.20386960e+01] [-1.42502556e-02 -8.10377066e-05 9.99898457e-01 -2.82231610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:132.71, Y:-22.04, Z:-2.82 [[ 9.78722926e-01 2.04668952e-01 1.45620856e-02 1.32712964e+02] [-2.04647640e-01 9.78831248e-01 -2.95481939e-03 -2.20432823e+01] [-1.48585842e-02 -8.81469716e-05 9.99889601e-01 -2.82279509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.75, Y:-22.05, Z:-2.82 [[ 9.78707694e-01 2.04713828e-01 1.49498645e-02 1.32745152e+02] [-2.04691324e-01 9.78821864e-01 -3.03661793e-03 -2.20476766e+01] [-1.52548919e-02 -8.81462173e-05 9.99883633e-01 -2.82356075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.78, Y:-22.05, Z:-2.82 [[ 9.78801868e-01 2.04248934e-01 1.51418899e-02 1.32777947e+02] [-2.04225749e-01 9.78918979e-01 -3.07840456e-03 -2.20521410e+01] [-1.54514442e-02 -7.92156731e-05 9.99880616e-01 -2.82433486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.81, Y:-22.05, Z:-2.83 [[ 9.79235017e-01 2.02153489e-01 1.52561138e-02 1.32810851e+02] [-2.02129645e-01 9.79353851e-01 -3.10513668e-03 -2.20548264e+01] [-1.55688481e-02 -4.30543048e-05 9.99878797e-01 -2.82509124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:-22.06, Z:-2.83 [[ 9.79489103e-01 2.00903792e-01 1.54520011e-02 1.32842233e+02] [-2.00879159e-01 9.79610977e-01 -3.14605994e-03 -2.20594718e+01] [-1.57690053e-02 -2.24535592e-05 9.99875661e-01 -2.82587662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:-22.06, Z:-2.83 [[ 9.79824552e-01 1.99241794e-01 1.57020630e-02 1.32873105e+02] [-1.99216092e-01 9.79950360e-01 -3.20014784e-03 -2.20640462e+01] [-1.60248455e-02 7.47979832e-06 9.99871594e-01 -2.82633196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.90, Y:-22.07, Z:-2.83 [[ 9.80192411e-01 1.97405531e-01 1.59340697e-02 1.32903530e+02] [-1.97378773e-01 9.80321914e-01 -3.25039644e-03 -2.20690016e+01] [-1.62621639e-02 4.09667892e-05 9.99867761e-01 -2.82751204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:-22.07, Z:-2.83 [[ 9.81072867e-01 1.92960925e-01 1.61898174e-02 1.32935967e+02] [-1.92932698e-01 9.81206435e-01 -3.30246918e-03 -2.20733714e+01] [-1.65228005e-02 1.16417752e-04 9.99863482e-01 -2.82782062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.97, Y:-22.08, Z:-2.83 [[ 9.81497274e-01 1.90795497e-01 1.61300851e-02 1.32968067e+02] [-1.90767132e-01 9.81629795e-01 -3.29351441e-03 -2.20796837e+01] [-1.64621598e-02 1.55485351e-04 9.99864477e-01 -2.82895299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.00, Y:-22.09, Z:-2.83 [[ 9.81971124e-01 1.88361202e-01 1.58987138e-02 1.32999493e+02] [-1.88333269e-01 9.82099801e-01 -3.24977945e-03 -2.20859450e+01] [-1.62262561e-02 1.96932829e-04 9.99868326e-01 -2.82974361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.03, Y:-22.09, Z:-2.83 [[ 9.82401460e-01 1.86106120e-01 1.58708566e-02 1.33031629e+02] [-1.86077960e-01 9.82529621e-01 -3.24593399e-03 -2.20929056e+01] [-1.61976749e-02 2.35593666e-04 9.99868781e-01 -2.83022950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.06, Y:-22.10, Z:-2.83 [[ 9.82833406e-01 1.83801599e-01 1.59834000e-02 1.33063052e+02] [-1.83772678e-01 9.82963323e-01 -3.27239055e-03 -2.20993898e+01] [-1.63125666e-02 2.78902526e-04 9.99866902e-01 -2.83093676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:133.10, Y:-22.11, Z:-2.83 [[ 9.83634040e-01 1.79488470e-01 1.57468703e-02 1.33095446e+02] [-1.79459818e-01 9.83760016e-01 -3.22566600e-03 -2.21067206e+01] [-1.60701113e-02 3.46944387e-04 9.99870807e-01 -2.83161629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.13, Y:-22.11, Z:-2.83 [[ 9.83999652e-01 1.77496735e-01 1.54788454e-02 1.33126302e+02] [-1.77468756e-01 9.84121318e-01 -3.17375106e-03 -2.21140422e+01] [-1.57963921e-02 3.75958510e-04 9.99875159e-01 -2.83226903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.16, Y:-22.12, Z:-2.83 [[ 9.84327885e-01 1.75664567e-01 1.55104698e-02 1.33158462e+02] [-1.75636204e-01 9.84449995e-01 -3.18297772e-03 -2.21220519e+01] [-1.58284183e-02 4.08893700e-04 9.99874639e-01 -2.83276733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:133.19, Y:-22.13, Z:-2.83 [[ 9.84681128e-01 1.73671323e-01 1.55353633e-02 1.33189542e+02] [-1.73642570e-01 9.84803571e-01 -3.19124098e-03 -2.21298103e+01] [-1.58535083e-02 4.44754363e-04 9.99874226e-01 -2.83342763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.22, Y:-22.14, Z:-2.83 [[ 9.85268852e-01 1.70359971e-01 1.49254705e-02 1.33220911e+02] [-1.70333013e-01 9.85381778e-01 -3.06855657e-03 -2.21396307e+01] [-1.52300459e-02 4.81052848e-04 9.99883900e-01 -2.83349586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.25, Y:-22.15, Z:-2.83 [[ 9.85515904e-01 1.68924223e-01 1.49335159e-02 1.33252081e+02] [-1.68897024e-01 9.85628911e-01 -3.07323806e-03 -2.21476612e+01] [-1.52380494e-02 5.06498596e-04 9.99883766e-01 -2.83457419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:133.28, Y:-22.16, Z:-2.83 [[ 9.85703617e-01 1.67823362e-01 1.49565811e-02 1.33284438e+02] [-1.67795911e-01 9.85816941e-01 -3.08073333e-03 -2.21561437e+01] [-1.52614700e-02 5.27036834e-04 9.99883398e-01 -2.83455277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.32, Y:-22.16, Z:-2.83 [[ 9.85810652e-01 1.67166968e-01 1.52500060e-02 1.33315208e+02] [-1.67138302e-01 9.85928446e-01 -3.14430115e-03 -2.21645792e+01] [-1.55610380e-02 5.50825469e-04 9.99878768e-01 -2.83491796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:-22.17, Z:-2.84 [[ 9.85916750e-01 1.66488400e-01 1.58042386e-02 1.33346831e+02] [-1.66457477e-01 9.86043240e-01 -3.26156420e-03 -2.21727075e+01] [-1.61266752e-02 5.84897091e-04 9.99869786e-01 -2.83560490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.38, Y:-22.18, Z:-2.84 [[ 9.85964731e-01 1.66149829e-01 1.63640990e-02 1.33377422e+02] [-1.66116571e-01 9.86100328e-01 -3.38064562e-03 -2.21828143e+01] [-1.66983370e-02 6.14849348e-04 9.99860384e-01 -2.83584881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.41, Y:-22.19, Z:-2.84 [[ 9.85900703e-01 1.66527527e-01 1.63824990e-02 1.33408978e+02] [-1.66494215e-01 9.86036617e-01 -3.38627346e-03 -2.21920652e+01] [-1.67176517e-02 6.10938069e-04 9.99860064e-01 -2.83639851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.898623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.44, Y:-22.20, Z:-2.84 [[ 9.85763037e-01 1.67374499e-01 1.60315663e-02 1.33440395e+02] [-1.67342661e-01 9.85893216e-01 -3.31678192e-03 -2.22013298e+01] [-1.63605571e-02 5.86796056e-04 9.99865985e-01 -2.83721409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.47, Y:-22.21, Z:-2.84 [[ 9.85538581e-01 1.68707220e-01 1.58612231e-02 1.33472591e+02] [-1.68676178e-01 9.85666048e-01 -3.28460359e-03 -2.22103996e+01] [-1.61880054e-02 5.61693085e-04 9.99868808e-01 -2.83823812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.50, Y:-22.22, Z:-2.84 [[ 9.85012611e-01 1.71807701e-01 1.52404020e-02 1.33504054e+02] [-1.71779368e-01 9.85130382e-01 -3.15886168e-03 -2.22212379e+01] [-1.55564998e-02 4.93531971e-04 9.99878869e-01 -2.83899916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.54, Y:-22.23, Z:-2.84 [[ 9.84707272e-01 1.73562319e-01 1.50900278e-02 1.33535137e+02] [-1.73534699e-01 9.84822779e-01 -3.13086591e-03 -2.22301041e+01] [-1.54044034e-02 4.64343005e-04 9.99881237e-01 -2.83968825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:133.57, Y:-22.24, Z:-2.84 [[ 9.84399143e-01 1.75306172e-01 1.50357200e-02 1.33566261e+02] [-1.75278929e-01 9.84513867e-01 -3.12118944e-03 -2.22388314e+01] [-1.53500386e-02 4.37051310e-04 9.99882086e-01 -2.84003279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.048623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:133.60, Y:-22.25, Z:-2.84 [[ 9.84051729e-01 1.77219318e-01 1.53462594e-02 1.33598361e+02] [-1.77191128e-01 9.84171295e-01 -3.18843743e-03 -2.22475222e+01] [-1.56684007e-02 4.18366362e-04 9.99877156e-01 -2.84098573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.078623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:133.63, Y:-22.26, Z:-2.84 [[ 9.83722540e-01 1.79035700e-01 1.53682143e-02 1.33629235e+02] [-1.79007600e-01 9.83842499e-01 -3.19619259e-03 -2.22559159e+01] [-1.56921349e-02 3.93139536e-04 9.99876794e-01 -2.84132159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.108623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.66, Y:-22.27, Z:-2.84 [[ 9.83352594e-01 1.81037453e-01 1.55921937e-02 1.33661466e+02] [-1.81008753e-01 9.83476133e-01 -3.24443323e-03 -2.22651747e+01] [-1.59219143e-02 3.68098284e-04 9.99873171e-01 -2.84158550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.69, Y:-22.28, Z:-2.84 [[ 9.82690232e-01 1.84554479e-01 1.61106207e-02 1.33691635e+02] [-1.84524257e-01 9.82822232e-01 -3.35552170e-03 -2.22773282e+01] [-1.64531528e-02 3.24638066e-04 9.99864585e-01 -2.84223513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.168623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.72, Y:-22.29, Z:-2.84 [[ 9.82360606e-01 1.86288793e-01 1.62519288e-02 1.33723450e+02] [-1.86258229e-01 9.82494985e-01 -3.38780870e-03 -2.22864030e+01] [-1.65985493e-02 3.00994338e-04 9.99862189e-01 -2.84293324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.75, Y:-22.30, Z:-2.84 [[ 9.82043734e-01 1.87953922e-01 1.62304411e-02 1.33754758e+02] [-1.87923613e-01 9.82177808e-01 -3.38655709e-03 -2.22953816e+01] [-1.65776958e-02 2.75664040e-04 9.99862543e-01 -2.84353983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.79, Y:-22.30, Z:-2.84 [[ 9.81792935e-01 1.89263627e-01 1.61836781e-02 1.33785414e+02] [-1.89233620e-01 9.81926277e-01 -3.37976138e-03 -2.23040296e+01] [-1.65308447e-02 2.55729850e-04 9.99863324e-01 -2.84428013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.82, Y:-22.32, Z:-2.85 [[ 9.81461801e-01 1.91025918e-01 1.55509210e-02 1.33817169e+02] [-1.90998390e-01 9.81584968e-01 -3.25030509e-03 -2.23154491e+01] [-1.58854429e-02 2.19849405e-04 9.99873794e-01 -2.84562004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.85, Y:-22.32, Z:-2.85 [[ 9.81327214e-01 1.91727296e-01 1.54124298e-02 1.33847967e+02] [-1.91700297e-01 9.81448216e-01 -3.22426934e-03 -2.23249031e+01] [-1.57446821e-02 2.09495874e-04 9.99876023e-01 -2.84673047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.88, Y:-22.33, Z:-2.85 [[ 9.81210603e-01 1.92324049e-01 1.54017371e-02 1.33879705e+02] [-1.92297120e-01 9.81331452e-01 -3.22470899e-03 -2.23345033e+01] [-1.57343981e-02 2.02408975e-04 9.99876186e-01 -2.84699901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.91, Y:-22.35, Z:-2.85 [[ 9.81070832e-01 1.92932172e-01 1.66492971e-02 1.33910399e+02] [-1.92900733e-01 9.81212073e-01 -3.48922988e-03 -2.23468440e+01] [-1.70096760e-02 2.11520040e-04 9.99855303e-01 -2.84724462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:133.94, Y:-22.36, Z:-2.85 [[ 9.81007977e-01 1.93218195e-01 1.70316686e-02 1.33941046e+02] [-1.93185276e-01 9.81155789e-01 -3.57296188e-03 -2.23563919e+01] [-1.74010815e-02 2.14836509e-04 9.99848567e-01 -2.84785679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.97, Y:-22.37, Z:-2.85 [[ 9.80948943e-01 1.93513393e-01 1.70803600e-02 1.33972000e+02] [-1.93480294e-01 9.81097611e-01 -3.58528688e-03 -2.23659196e+01] [-1.74513014e-02 2.12270309e-04 9.99847692e-01 -2.84881238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:134.00, Y:-22.38, Z:-2.85 [[ 9.80882704e-01 1.93874169e-01 1.67907167e-02 1.34004040e+02] [-1.93842204e-01 9.81026383e-01 -3.52635418e-03 -2.23753075e+01] [-1.71558050e-02 2.04190298e-04 9.99852807e-01 -2.84920178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.04, Y:-22.38, Z:-2.85 [[ 9.80753568e-01 1.94535009e-01 1.66904134e-02 1.34036083e+02] [-1.94503466e-01 9.80895556e-01 -3.50845287e-03 -2.23848169e+01] [-1.70540692e-02 1.94584407e-04 9.99854550e-01 -2.85003546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.498623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.07, Y:-22.39, Z:-2.85 [[ 9.80617423e-01 1.95230299e-01 1.65710644e-02 1.34067652e+02] [-1.95199250e-01 9.80757410e-01 -3.48659420e-03 -2.23940668e+01] [-1.69328830e-02 1.84355682e-04 9.99856611e-01 -2.85064923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.10, Y:-22.41, Z:-2.85 [[ 9.80275212e-01 1.96932576e-01 1.66753783e-02 1.34099309e+02] [-1.96901325e-01 9.80417021e-01 -3.51184263e-03 -2.24061357e+01] [-1.70404210e-02 1.59168182e-04 9.99854789e-01 -2.85181498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.13, Y:-22.42, Z:-2.85 [[ 9.80067460e-01 1.97988817e-01 1.63768634e-02 1.34130722e+02] [-1.97958769e-01 9.80204269e-01 -3.45211661e-03 -2.24159707e+01] [-1.67361519e-02 1.41363433e-04 9.99859931e-01 -2.85241773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.16, Y:-22.43, Z:-2.85 [[ 9.79840269e-01 1.99122790e-01 1.62222341e-02 1.34161037e+02] [-1.99093409e-01 9.79974540e-01 -3.42275473e-03 -2.24252249e+01] [-1.65789249e-02 1.24013021e-04 9.99862552e-01 -2.85287678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.19, Y:-22.44, Z:-2.85 [[ 9.79349068e-01 2.01517188e-01 1.63164511e-02 1.34190880e+02] [-2.01487747e-01 9.79484974e-01 -3.44568906e-03 -2.24367553e+01] [-1.66760842e-02 8.69674129e-05 9.99860941e-01 -2.85405901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:134.22, Y:-22.45, Z:-2.85 [[ 9.79099389e-01 2.02735694e-01 1.62057049e-02 1.34222950e+02] [-2.02706770e-01 9.79233493e-01 -3.42516642e-03 -2.24461664e+01] [-1.65635725e-02 6.85722525e-05 9.99862812e-01 -2.85483626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.25, Y:-22.46, Z:-2.86 [[ 9.78855636e-01 2.03913780e-01 1.61497431e-02 1.34254926e+02] [-2.03885164e-01 9.78988850e-01 -3.41642525e-03 -2.24557186e+01] [-1.65070746e-02 5.14940884e-05 9.99863748e-01 -2.85567872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:134.29, Y:-22.47, Z:-2.86 [[ 9.78601632e-01 2.05140737e-01 1.60038503e-02 1.34287069e+02] [-2.05112750e-01 9.78732485e-01 -3.38864124e-03 -2.24654683e+01] [-1.63586365e-02 3.35361125e-05 9.99866188e-01 -2.85624215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:-22.48, Z:-2.86 [[ 9.77980398e-01 2.08111965e-01 1.56125002e-02 1.34318249e+02] [-2.08085661e-01 9.78105010e-01 -3.30874726e-03 -2.24769901e+01] [-1.59592545e-02 -1.28474522e-05 9.99872643e-01 -2.85735849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.35, Y:-22.49, Z:-2.86 [[ 9.77507802e-01 2.10339513e-01 1.53553608e-02 1.34349533e+02] [-2.10314294e-01 9.77628399e-01 -3.25734830e-03 -2.24854854e+01] [-1.56969858e-02 -4.53684822e-05 9.99876794e-01 -2.85782353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.798623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:134.38, Y:-22.49, Z:-2.86 [[ 9.76929081e-01 2.13003205e-01 1.54662731e-02 1.34380799e+02] [-2.12977907e-01 9.77051497e-01 -3.28385513e-03 -2.24938007e+01] [-1.58108170e-02 -8.58808977e-05 9.99874998e-01 -2.85873613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:-22.50, Z:-2.86 [[ 9.76231849e-01 2.16180530e-01 1.54063608e-02 1.34413038e+02] [-2.16155781e-01 9.76353399e-01 -3.27381956e-03 -2.25020813e+01] [-1.57497888e-02 -1.34167035e-04 9.99875955e-01 -2.85889142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.44, Y:-22.51, Z:-2.86 [[ 9.74675751e-01 2.23077413e-01 1.56092222e-02 1.34444929e+02] [-2.23052844e-01 9.74800701e-01 -3.31987728e-03 -2.25097502e+01] [-1.59564703e-02 -2.45877511e-04 9.99872657e-01 -2.85933275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:-22.52, Z:-2.86 [[ 9.74648251e-01 2.23197576e-01 1.56085860e-02 1.34477642e+02] [-2.23172974e-01 9.74773195e-01 -3.32286524e-03 -2.25168783e+01] [-1.59564867e-02 -2.44789764e-04 9.99872657e-01 -2.85997954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.918623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.51, Y:-22.52, Z:-2.86 [[ 9.73833391e-01 2.26710779e-01 1.58350970e-02 1.34510175e+02] [-2.26685891e-01 9.73962078e-01 -3.37295944e-03 -2.25236154e+01] [-1.61874703e-02 -3.04892550e-04 9.99868928e-01 -2.86087005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.54, Y:-22.53, Z:-2.86 [[ 9.72997193e-01 2.30317090e-01 1.51822269e-02 1.34541442e+02] [-2.30294606e-01 9.73115573e-01 -3.23676143e-03 -2.25298794e+01] [-1.55195428e-02 -3.47025174e-04 9.99879504e-01 -2.86167719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.57, Y:-22.54, Z:-2.86 [[ 9.72249214e-01 2.33493066e-01 1.45758215e-02 1.34573843e+02] [-2.33472663e-01 9.72358393e-01 -3.10994706e-03 -2.25359609e+01] [-1.48990734e-02 -3.79412267e-04 9.99888931e-01 -2.86246849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.61, Y:-22.54, Z:-2.86 [[ 9.71056227e-01 2.38447097e-01 1.38847577e-02 1.34605716e+02] [-2.38429051e-01 9.71155392e-01 -2.96508690e-03 -2.25409360e+01] [-1.41912737e-02 -4.31263496e-04 9.99899206e-01 -2.86362878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:-22.55, Z:-2.86 [[ 9.70664498e-01 2.40043121e-01 1.37743198e-02 1.34638690e+02] [-2.40025487e-01 9.70762123e-01 -2.94389078e-03 -2.25460382e+01] [-1.40782487e-02 -4.48657561e-04 9.99900796e-01 -2.86422509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.67, Y:-22.55, Z:-2.86 [[ 9.70322610e-01 2.41415670e-01 1.38746845e-02 1.34670781e+02] [-2.41397880e-01 9.70421689e-01 -2.96812065e-03 -2.25510629e+01] [-1.41808456e-02 -4.69284844e-04 9.99899337e-01 -2.86456442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:134.70, Y:-22.56, Z:-2.87 [[ 9.70115973e-01 2.42226222e-01 1.41935188e-02 1.34703943e+02] [-2.42207653e-01 9.70219675e-01 -3.03891427e-03 -2.25558501e+01] [-1.45069359e-02 -4.89679601e-04 9.99894649e-01 -2.86511604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:134.74, Y:-22.56, Z:-2.87 [[ 9.70041231e-01 2.42461989e-01 1.52379196e-02 1.34736740e+02] [-2.42440567e-01 9.70160763e-01 -3.26572580e-03 -2.25585408e+01] [-1.55750461e-02 -5.26401195e-04 9.99878563e-01 -2.86567216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:-22.56, Z:-2.87 [[ 9.70127493e-01 2.42108576e-01 1.53650744e-02 1.34768684e+02] [-2.42086701e-01 9.70249022e-01 -3.29605085e-03 -2.25634787e+01] [-1.57059506e-02 -5.22090632e-04 9.99876518e-01 -2.86588547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.80, Y:-22.57, Z:-2.87 [[ 9.70336788e-01 2.41263820e-01 1.54365583e-02 1.34801442e+02] [-2.41241591e-01 9.70459433e-01 -3.31416015e-03 -2.25687161e+01] [-1.57801406e-02 -5.08088375e-04 9.99875357e-01 -2.86663783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.218623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:134.83, Y:-22.57, Z:-2.87 [[ 9.70550013e-01 2.40420293e-01 1.51906261e-02 1.34832820e+02] [-2.40398617e-01 9.70668764e-01 -3.26431915e-03 -2.25737434e+01] [-1.55298748e-02 -4.83620522e-04 9.99879287e-01 -2.86745893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:134.86, Y:-22.58, Z:-2.87 [[ 9.71225607e-01 2.37726106e-01 1.43916212e-02 1.34864923e+02] [-2.37706319e-01 9.71332140e-01 -3.09508145e-03 -2.25762734e+01] [-1.47148259e-02 -4.14956940e-04 9.99891645e-01 -2.86840379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:134.90, Y:-22.58, Z:-2.87 [[ 9.71599107e-01 2.36223663e-01 1.39124361e-02 1.34897977e+02] [-2.36204985e-01 9.71698636e-01 -2.99431919e-03 -2.25809330e+01] [-1.42260242e-02 -3.76908902e-04 9.99898734e-01 -2.86907554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:134.93, Y:-22.58, Z:-2.87 [[ 9.72028749e-01 2.34473528e-01 1.35009472e-02 1.34930400e+02] [-2.34455736e-01 9.72122446e-01 -2.90823374e-03 -2.25849998e+01] [-1.38064776e-02 -3.38487689e-04 9.99904629e-01 -2.86978002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:134.96, Y:-22.59, Z:-2.87 [[ 9.72491834e-01 2.32549405e-01 1.34315465e-02 1.34962968e+02] [-2.32531577e-01 9.72584536e-01 -2.89587819e-03 -2.25889095e+01] [-1.37367492e-02 -3.07040800e-04 9.99905599e-01 -2.87096329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:135.00, Y:-22.59, Z:-2.87 [[ 9.73464145e-01 2.28426135e-01 1.37499132e-02 1.34995566e+02] [-2.28406995e-01 9.73561214e-01 -2.96770639e-03 -2.25916483e+01] [-1.40642839e-02 -2.51620588e-04 9.99901061e-01 -2.87132505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.03, Y:-22.60, Z:-2.87 [[ 9.73939516e-01 2.26369941e-01 1.40878939e-02 1.35028240e+02] [-2.26349612e-01 9.74041374e-01 -3.04210357e-03 -2.25969771e+01] [-1.44108323e-02 -2.25964435e-04 9.99896133e-01 -2.87177798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:-22.60, Z:-2.87 [[ 9.74428991e-01 2.24227502e-01 1.44972231e-02 1.35060458e+02] [-2.24205694e-01 9.74536807e-01 -3.13341490e-03 -2.26020219e+01] [-1.48306753e-02 -1.97069648e-04 9.99890000e-01 -2.87170215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.09, Y:-22.61, Z:-2.87 [[ 9.74930213e-01 2.21998740e-01 1.50877349e-02 1.35092684e+02] [-2.21974801e-01 9.75046938e-01 -3.26432632e-03 -2.26064463e+01] [-1.54359261e-02 -1.66606608e-04 9.99880845e-01 -2.87167555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.13, Y:-22.61, Z:-2.87 [[ 9.75827273e-01 2.17974121e-01 1.57612291e-02 1.35126093e+02] [-2.17947422e-01 9.75954544e-01 -3.41316859e-03 -2.26087822e+01] [-1.61262256e-02 -1.04456241e-04 9.99869959e-01 -2.87172166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.16, Y:-22.61, Z:-2.87 [[ 9.76166709e-01 2.16440760e-01 1.58730270e-02 1.35157591e+02] [-2.16413426e-01 9.76295750e-01 -3.44059820e-03 -2.26134515e+01] [-1.62414545e-02 -7.65387275e-05 9.99868096e-01 -2.87263529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.19, Y:-22.62, Z:-2.87 [[ 9.76521562e-01 2.14842367e-01 1.57606071e-02 1.35189872e+02] [-2.14815159e-01 9.76648737e-01 -3.41937366e-03 -2.26179637e+01] [-1.61272034e-02 -4.65252255e-05 9.99869947e-01 -2.87305489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.22, Y:-22.62, Z:-2.87 [[ 9.76801013e-01 2.13579099e-01 1.56124817e-02 1.35222195e+02] [-2.13552191e-01 9.76925774e-01 -3.39027461e-03 -2.26228464e+01] [-1.59763276e-02 -2.24560083e-05 9.99872370e-01 -2.87367994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:-22.63, Z:-2.87 [[ 9.77012787e-01 2.12613735e-01 1.55375239e-02 1.35254191e+02] [-2.12586913e-01 9.77136326e-01 -3.37711199e-03 -2.26281039e+01] [-1.59002994e-02 -3.59263348e-06 9.99873582e-01 -2.87448795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.29, Y:-22.63, Z:-2.88 [[ 9.77542561e-01 2.10206199e-01 1.49631179e-02 1.35287685e+02] [-2.10181002e-01 9.77657073e-01 -3.25486797e-03 -2.26306302e+01] [-1.53129915e-02 3.68088647e-05 9.99882749e-01 -2.87536078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.32, Y:-22.63, Z:-2.88 [[ 9.77701994e-01 2.09466082e-01 1.49255408e-02 1.35320157e+02] [-2.09440880e-01 9.77815912e-01 -3.24958385e-03 -2.26349539e+01] [-1.52751089e-02 5.11062079e-05 9.99883327e-01 -2.87630903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.35, Y:-22.64, Z:-2.88 [[ 9.77859929e-01 2.08740785e-01 1.47391814e-02 1.35352302e+02] [-2.08716079e-01 9.77971002e-01 -3.21219185e-03 -2.26397171e+01] [-1.50850075e-02 6.47695465e-05 9.99886213e-01 -2.87717230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.38, Y:-22.64, Z:-2.88 [[ 9.78010345e-01 2.08053850e-01 1.44692918e-02 1.35384523e+02] [-2.08029943e-01 9.78117370e-01 -3.15480209e-03 -2.26447541e+01] [-1.48090343e-02 7.53831345e-05 9.99890337e-01 -2.87823680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.42, Y:-22.65, Z:-2.88 [[ 9.78301331e-01 2.06726733e-01 1.38044801e-02 1.35416671e+02] [-2.06704804e-01 9.78398717e-01 -3.01240721e-03 -2.26474337e+01] [-1.41290307e-02 9.35896258e-05 9.99900176e-01 -2.87902448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.45, Y:-22.65, Z:-2.88 [[ 9.78365706e-01 2.06438478e-01 1.35536295e-02 1.35449193e+02] [-2.06417276e-01 9.78459578e-01 -2.96024817e-03 -2.26524729e+01] [-1.38727877e-02 9.85020066e-05 9.99903763e-01 -2.87970724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:-22.66, Z:-2.88 [[ 9.78427006e-01 2.06120279e-01 1.39651497e-02 1.35480938e+02] [-2.06097695e-01 9.78526657e-01 -3.05309015e-03 -2.26575917e+01] [-1.42945750e-02 1.09040686e-04 9.99897821e-01 -2.88072248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:-22.66, Z:-2.88 [[ 9.78533178e-01 2.05616316e-01 1.39553079e-02 1.35514223e+02] [-2.05593676e-01 9.78632677e-01 -3.05347132e-03 -2.26606664e+01] [-1.42849638e-02 1.18799948e-04 9.99897958e-01 -2.88107151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:-22.67, Z:-2.88 [[ 9.78565107e-01 2.05469755e-01 1.38748417e-02 1.35547259e+02] [-2.05447322e-01 9.78663458e-01 -3.03857422e-03 -2.26653257e+01] [-1.42031357e-02 1.22893629e-04 9.99899123e-01 -2.88146887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.58, Y:-22.67, Z:-2.88 [[ 9.78609883e-01 2.05243567e-01 1.40632668e-02 1.35580181e+02] [-2.05220457e-01 9.78710918e-01 -3.08265507e-03 -2.26703660e+01] [-1.43965679e-02 1.30646679e-04 9.99896356e-01 -2.88243815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.61, Y:-22.68, Z:-2.88 [[ 9.78700576e-01 2.04805064e-01 1.41445540e-02 1.35612263e+02] [-2.04781598e-01 9.78802772e-01 -3.10336676e-03 -2.26759509e+01] [-1.44803139e-02 1.40722455e-04 9.99895145e-01 -2.88315072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.64, Y:-22.68, Z:-2.88 [[ 9.78859729e-01 2.04054898e-01 1.39724906e-02 1.35644249e+02] [-2.04031891e-01 9.78959435e-01 -3.06784318e-03 -2.26818354e+01] [-1.43045099e-02 1.52154466e-04 9.99897674e-01 -2.88326088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:135.68, Y:-22.69, Z:-2.88 [[ 9.78990815e-01 2.03420742e-01 1.40351781e-02 1.35675719e+02] [-2.03397423e-01 9.79091403e-01 -3.08443225e-03 -2.26875052e+01] [-1.43691597e-02 1.64911777e-04 9.99896745e-01 -2.88389771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:135.71, Y:-22.69, Z:-2.88 [[ 9.79284699e-01 2.02007462e-01 1.39450556e-02 1.35707014e+02] [-2.01984260e-01 9.79383965e-01 -3.06729920e-03 -2.26900003e+01] [-1.42771812e-02 1.87077442e-04 9.99898058e-01 -2.87823916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:-22.70, Z:-2.89 [[ 9.79391639e-01 2.01466843e-01 1.42523088e-02 1.35737037e+02] [-2.01442508e-01 9.79495314e-01 -3.13779820e-03 -2.26960672e+01] [-1.45922320e-02 2.02112498e-04 9.99893507e-01 -2.88517011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.77, Y:-22.70, Z:-2.89 [[ 9.79446779e-01 2.01200973e-01 1.42188232e-02 1.35768424e+02] [-2.01176732e-01 9.79549961e-01 -3.12987290e-03 -2.27018676e+01] [-1.45577812e-02 2.05047533e-04 9.99894009e-01 -2.88566943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.80, Y:-22.71, Z:-2.89 [[ 9.79383762e-01 2.01484554e-01 1.45403583e-02 1.35798357e+02] [-2.01459188e-01 9.79491670e-01 -3.20382520e-03 -2.27058860e+01] [-1.48876811e-02 2.08485595e-04 9.99889151e-01 -2.88604828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.83, Y:-22.71, Z:-2.89 [[ 9.79307974e-01 2.01877726e-01 1.41871510e-02 1.35828984e+02] [-2.01853617e-01 9.79410713e-01 -3.12610820e-03 -2.27110549e+01] [-1.45261393e-02 1.97694957e-04 9.99894471e-01 -2.88680540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:-22.72, Z:-2.89 [[ 9.79215792e-01 2.02354682e-01 1.37483096e-02 1.35859326e+02] [-2.02332082e-01 9.79312283e-01 -3.02984247e-03 -2.27161593e+01] [-1.40769913e-02 1.85145485e-04 9.99900897e-01 -2.88752004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:-22.72, Z:-2.89 [[ 9.79125600e-01 2.02822731e-01 1.32664788e-02 1.35889134e+02] [-2.02801731e-01 9.79215456e-01 -2.92365695e-03 -2.27213042e+01] [-1.35837252e-02 1.72162497e-04 9.99907722e-01 -2.88843896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.92, Y:-22.72, Z:-2.89 [[ 9.79044580e-01 2.03241115e-01 1.28358914e-02 1.35918335e+02] [-2.03221490e-01 9.79128706e-01 -2.82897531e-03 -2.27240686e+01] [-1.31429538e-02 1.61163979e-04 9.99913615e-01 -2.88932878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.95, Y:-22.73, Z:-2.89 [[ 9.79012242e-01 2.03409700e-01 1.26303130e-02 1.35947991e+02] [-2.03390718e-01 9.79093698e-01 -2.78315989e-03 -2.27291795e+01] [-1.29323816e-02 1.55859172e-04 9.99916361e-01 -2.89015923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.98, Y:-22.73, Z:-2.89 [[ 9.79088877e-01 2.03056826e-01 1.23651410e-02 1.35978180e+02] [-2.03038610e-01 9.79166942e-01 -2.72429946e-03 -2.27343559e+01] [-1.26607249e-02 1.56730254e-04 9.99919838e-01 -2.89105499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:-22.74, Z:-2.89 [[ 9.79133515e-01 2.02843196e-01 1.23368795e-02 1.36008493e+02] [-2.02825048e-01 9.79211220e-01 -2.71799224e-03 -2.27399293e+01] [-1.26317371e-02 1.59049116e-04 9.99920204e-01 -2.89173443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.358623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.04, Y:-22.74, Z:-2.89 [[ 9.79125238e-01 2.02842318e-01 1.29908682e-02 1.36037463e+02] [-2.02822190e-01 9.79211400e-01 -2.86239333e-03 -2.27447602e+01] [-1.33014207e-02 1.67805218e-04 9.99911518e-01 -2.89141807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.07, Y:-22.75, Z:-2.89 [[ 9.79080353e-01 2.03046384e-01 1.31843786e-02 1.36067304e+02] [-2.03025674e-01 9.79169106e-01 -2.90479565e-03 -2.27503639e+01] [-1.34995444e-02 1.67261012e-04 9.99908863e-01 -2.89174888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.418623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.10, Y:-22.76, Z:-2.89 [[ 9.79028613e-01 2.03284595e-01 1.33547342e-02 1.36096939e+02] [-2.03263367e-01 9.79119679e-01 -2.94239553e-03 -2.27552590e+01] [-1.36740268e-02 1.66161168e-04 9.99906492e-01 -2.89158325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.13, Y:-22.76, Z:-2.89 [[ 9.78856854e-01 2.04073650e-01 1.38997949e-02 1.36126637e+02] [-2.04050735e-01 9.78955525e-01 -3.06236692e-03 -2.27582881e+01] [-1.42322294e-02 1.61355482e-04 9.99898704e-01 -2.89235552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:136.16, Y:-22.76, Z:-2.89 [[ 9.78784501e-01 2.04416661e-01 1.39545536e-02 1.36155601e+02] [-2.04393605e-01 9.78883959e-01 -3.07409113e-03 -2.27632905e+01] [-1.42882841e-02 1.56651246e-04 9.99897905e-01 -2.89290749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.19, Y:-22.77, Z:-2.89 [[ 9.78778458e-01 2.04460260e-01 1.37379843e-02 1.36185190e+02] [-2.04437923e-01 9.78874853e-01 -3.02605792e-03 -2.27682004e+01] [-1.40664759e-02 1.53275333e-04 9.99901050e-01 -2.89326244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:136.21, Y:-22.77, Z:-2.89 [[ 9.78784408e-01 2.04451477e-01 1.34416167e-02 1.36214029e+02] [-2.04430097e-01 9.78876688e-01 -2.96046618e-03 -2.27730569e+01] [-1.37629570e-02 1.49787126e-04 9.99905275e-01 -2.89437642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.24, Y:-22.78, Z:-2.90 [[ 9.78990540e-01 2.03524229e-01 1.24663779e-02 1.36242257e+02] [-2.03505766e-01 9.79069898e-01 -2.74548157e-03 -2.27783443e+01] [-1.27642274e-02 1.50820703e-04 9.99918523e-01 -2.89584136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:136.27, Y:-22.78, Z:-2.90 [[ 9.79141253e-01 2.02830905e-01 1.19176443e-02 1.36271752e+02] [-2.02813986e-01 9.79213767e-01 -2.62415503e-03 -2.27843562e+01] [-1.22021811e-02 1.52353495e-04 9.99925539e-01 -2.89598617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:-22.79, Z:-2.90 [[ 9.79282636e-01 2.02147636e-01 1.19101664e-02 1.36300400e+02] [-2.02130690e-01 9.79355047e-01 -2.62229999e-03 -2.27897488e+01] [-1.21943733e-02 1.60562693e-04 9.99925633e-01 -2.89673192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.33, Y:-22.80, Z:-2.90 [[ 9.79416934e-01 2.01500162e-01 1.18386810e-02 1.36328676e+02] [-2.01483377e-01 9.79488467e-01 -2.60621872e-03 -2.27950027e+01] [-1.21210050e-02 1.67277318e-04 9.99926524e-01 -2.89745394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-22.80, Z:-2.90 [[ 9.79584520e-01 2.00693736e-01 1.16701345e-02 1.36357139e+02] [-2.00677374e-01 9.79654017e-01 -2.56856358e-03 -2.28008967e+01] [-1.19481887e-02 1.74193183e-04 9.99928603e-01 -2.89757453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:-22.81, Z:-2.90 [[ 9.79631232e-01 2.00455902e-01 1.18355591e-02 1.36385114e+02] [-2.00439063e-01 9.79702710e-01 -2.60438394e-03 -2.28070726e+01] [-1.21173935e-02 1.79027469e-04 9.99926566e-01 -2.89787607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:-22.81, Z:-2.90 [[ 9.79638116e-01 2.00422248e-01 1.18356959e-02 1.36413774e+02] [-2.00405414e-01 9.79709595e-01 -2.60376218e-03 -2.28132910e+01] [-1.21173967e-02 1.78807151e-04 9.99926566e-01 -2.89844196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:-22.82, Z:-2.90 [[ 9.79635571e-01 2.00409478e-01 1.22551343e-02 1.36442835e+02] [-2.00391435e-01 9.79712206e-01 -2.69549288e-03 -2.28192816e+01] [-1.25467070e-02 1.84776751e-04 9.99921270e-01 -2.89852063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.47, Y:-22.82, Z:-2.90 [[ 9.79438387e-01 2.01334172e-01 1.28451434e-02 1.36472010e+02] [-2.01314434e-01 9.79522597e-01 -2.82493434e-03 -2.28244983e+01] [-1.31508640e-02 1.80936363e-04 9.99913507e-01 -2.89870195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.50, Y:-22.83, Z:-2.90 [[ 9.79298993e-01 2.02006055e-01 1.29242588e-02 1.36500728e+02] [-2.01986136e-01 9.79384258e-01 -2.84200837e-03 -2.28307802e+01] [-1.32319185e-02 1.72654836e-04 9.99912439e-01 -2.89929638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.53, Y:-22.84, Z:-2.90 [[ 9.79112148e-01 2.02905089e-01 1.29971586e-02 1.36529288e+02] [-2.02885027e-01 9.79198396e-01 -2.85778275e-03 -2.28365182e+01] [-1.33066556e-02 1.61160915e-04 9.99911450e-01 -2.89942233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.56, Y:-22.84, Z:-2.89 [[ 9.78666095e-01 2.05024939e-01 1.33209684e-02 1.36558439e+02] [-2.05004067e-01 9.78756740e-01 -2.92853280e-03 -2.28400990e+01] [-1.36384099e-02 1.35203050e-04 9.99906983e-01 -2.89485364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.59, Y:-22.85, Z:-2.90 [[ 9.78413690e-01 2.06204995e-01 1.36437621e-02 1.36586867e+02] [-2.06183224e-01 9.78508807e-01 -2.99879476e-03 -2.28454282e+01] [-1.39689078e-02 1.20947002e-04 9.99902423e-01 -2.89999961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.61, Y:-22.85, Z:-2.90 [[ 9.78135730e-01 2.07503140e-01 1.38902716e-02 1.36613944e+02] [-2.07480715e-01 9.78234346e-01 -3.05234935e-03 -2.28506067e+01] [-1.42213128e-02 1.03648475e-04 9.99898867e-01 -2.90056930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:-22.86, Z:-2.90 [[ 9.77917768e-01 2.08528349e-01 1.38840285e-02 1.36642218e+02] [-2.08506061e-01 9.78016319e-01 -3.04996861e-03 -2.28561646e+01] [-1.42148114e-02 8.77143968e-05 9.99898961e-01 -2.90129554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.018623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:136.67, Y:-22.86, Z:-2.90 [[ 9.77512247e-01 2.10461907e-01 1.32511206e-02 1.36669654e+02] [-2.10441790e-01 9.77602057e-01 -2.91039127e-03 -2.28607714e+01] [-1.35668492e-02 5.63535701e-05 9.99907964e-01 -2.90176171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.048623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:136.70, Y:-22.87, Z:-2.90 [[ 9.77316764e-01 2.11357471e-01 1.34150007e-02 1.36698382e+02] [-2.11336950e-01 9.77408828e-01 -2.94548453e-03 -2.28658159e+01] [-1.37344903e-02 4.35860761e-05 9.99905676e-01 -2.90210256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.078623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.73, Y:-22.87, Z:-2.90 [[ 9.77105468e-01 2.12317336e-01 1.36474479e-02 1.36726846e+02] [-2.12296201e-01 9.77200772e-01 -2.99584093e-03 -2.28703515e+01] [-1.39723656e-02 2.99512105e-05 9.99902381e-01 -2.90246502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.108623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:136.75, Y:-22.87, Z:-2.90 [[ 9.76890117e-01 2.13316012e-01 1.34899678e-02 1.36754775e+02] [-2.13295465e-01 9.76983254e-01 -2.96071287e-03 -2.28742176e+01] [-1.38110401e-02 1.49421834e-05 9.99904623e-01 -2.89527865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.138623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:136.78, Y:-22.88, Z:-2.90 [[ 9.76627608e-01 2.14472204e-01 1.41488337e-02 1.36783796e+02] [-2.14449738e-01 9.76730092e-01 -3.10425931e-03 -2.28777956e+01] [-1.44853690e-02 -2.50834568e-06 9.99895082e-01 -2.90317233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.168623853 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:136.81, Y:-22.88, Z:-2.90 [[ 9.76605455e-01 2.14590667e-01 1.38791464e-02 1.36812351e+02] [-2.14569069e-01 9.76704073e-01 -3.04443918e-03 -2.28825935e+01] [-1.42091270e-02 -4.81960807e-06 9.99899045e-01 -2.90424639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19862385300002 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:136.84, Y:-22.89, Z:-2.90 [[ 9.76598480e-01 2.14628780e-01 1.37802920e-02 1.36839756e+02] [-2.14607502e-01 9.76695698e-01 -3.02215457e-03 -2.28875546e+01] [-1.41077933e-02 -5.92249015e-06 9.99900480e-01 -2.90478080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22862385300002 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:136.87, Y:-22.89, Z:-2.91 [[ 9.76689544e-01 2.14220354e-01 1.36811784e-02 1.36867156e+02] [-2.14199352e-01 9.76785360e-01 -2.99960138e-03 -2.28921435e+01] [-1.40061504e-02 -8.20230209e-07 9.99901909e-01 -2.90502082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:136.90, Y:-22.90, Z:-2.91 [[ 9.77013939e-01 2.12745193e-01 1.35368249e-02 1.36895262e+02] [-2.12724500e-01 9.77107713e-01 -2.96722292e-03 -2.28959008e+01] [-1.38581984e-02 1.94038498e-05 9.99903970e-01 -2.90625372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28862385300002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:136.92, Y:-22.90, Z:-2.91 [[ 9.77299625e-01 2.11435473e-01 1.34344157e-02 1.36922692e+02] [-2.11414983e-01 9.77391958e-01 -2.94375838e-03 -2.29009610e+01] [-1.37531048e-02 3.66972017e-05 9.99905421e-01 -2.90713187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31862385300002 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:136.95, Y:-22.91, Z:-2.91 [[ 9.77627478e-01 2.09913494e-01 1.34476613e-02 1.36949922e+02] [-2.09892829e-01 9.77719961e-01 -2.94592266e-03 -2.29061070e+01] [-1.37664358e-02 5.74472693e-05 9.99905236e-01 -2.90737270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34862385300002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:136.98, Y:-22.91, Z:-2.91 [[ 9.77933918e-01 2.08456473e-01 1.38257125e-02 1.36977759e+02] [-2.08434501e-01 9.78031642e-01 -3.02763317e-03 -2.29117411e+01] [-1.41531141e-02 7.90696795e-05 9.99899837e-01 -2.90782585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37862385300002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:137.00, Y:-22.92, Z:-2.91 [[ 9.78214624e-01 2.07105737e-01 1.42605294e-02 1.37004859e+02] [-2.07082227e-01 9.78318559e-01 -3.12216226e-03 -2.29172360e+01] [-1.45979583e-02 1.01042605e-04 9.99893439e-01 -2.90805787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40862385300002 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:137.03, Y:-22.92, Z:-2.91 [[ 9.78686912e-01 2.04883980e-01 1.39457365e-02 1.37032441e+02] [-2.04861283e-01 9.78786257e-01 -3.05238147e-03 -2.29221774e+01] [-1.42752793e-02 1.30384329e-04 9.99898095e-01 -2.90847839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:137.06, Y:-22.93, Z:-2.91 [[ 9.78947797e-01 2.03643187e-01 1.38080903e-02 1.37060259e+02] [-2.03620824e-01 9.79045163e-01 -3.02141618e-03 -2.29275909e+01] [-1.41340349e-02 1.46193981e-04 9.99900099e-01 -2.90910070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:137.09, Y:-22.93, Z:-2.91 [[ 9.79264020e-01 2.02126706e-01 1.36665140e-02 1.37087424e+02] [-2.02104661e-01 9.79359366e-01 -2.98983717e-03 -2.29332477e+01] [-1.39887544e-02 1.65773796e-04 9.99902139e-01 -2.90968185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.498623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:137.12, Y:-22.94, Z:-2.91 [[ 9.79860258e-01 1.99167269e-01 1.43622302e-02 1.37115447e+02] [-1.99142618e-01 9.79965485e-01 -3.14104667e-03 -2.29388985e+01] [-1.47000836e-02 2.17654679e-04 9.99891924e-01 -2.91024221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:137.14, Y:-22.94, Z:-2.91 [[ 9.80156199e-01 1.97692564e-01 1.45421983e-02 1.37142350e+02] [-1.97667139e-01 9.80264042e-01 -3.17974182e-03 -2.29442543e+01] [-1.48838054e-02 2.42128920e-04 9.99889201e-01 -2.91006401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.558623853 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:137.17, Y:-22.95, Z:-2.90 [[ 9.80480194e-01 1.96108765e-01 1.41400370e-02 1.37170983e+02] [-1.96084577e-01 9.80582116e-01 -3.09081617e-03 -2.29494150e+01] [-1.44716036e-02 2.57840870e-04 9.99895248e-01 -2.90379184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588623853 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:137.20, Y:-22.96, Z:-2.91 [[ 9.80886430e-01 1.94034965e-01 1.45685910e-02 1.37199128e+02] [-1.94009070e-01 9.80994569e-01 -3.18375251e-03 -2.29572630e+01] [-1.49094680e-02 2.96460842e-04 9.99888804e-01 -2.91196473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.618623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:137.23, Y:-22.96, Z:-2.91 [[ 9.81022956e-01 1.93374753e-01 1.41479543e-02 1.37226720e+02] [-1.93350272e-01 9.81124924e-01 -3.09124027e-03 -2.29632909e+01] [-1.44786784e-02 2.97066850e-04 9.99895134e-01 -2.91237184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:137.25, Y:-22.97, Z:-2.91 [[ 9.81021210e-01 1.93420346e-01 1.36365057e-02 1.37254835e+02] [-1.93397621e-01 9.81115940e-01 -2.97855405e-03 -2.29691363e+01] [-1.39551061e-02 2.84756931e-04 9.99902582e-01 -2.91311662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.678623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:137.28, Y:-22.97, Z:-2.91 [[ 9.80966670e-01 1.93725771e-01 1.32180763e-02 1.37281783e+02] [-1.93704454e-01 9.81055682e-01 -2.88660953e-03 -2.29749391e+01] [-1.35268795e-02 2.71267495e-04 9.99908471e-01 -2.91413666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708623853 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:137.31, Y:-22.98, Z:-2.91 [[ 9.80564799e-01 1.95815600e-01 1.22035212e-02 1.37310277e+02] [-1.95797600e-01 9.80640710e-01 -2.66431597e-03 -2.29809575e+01] [-1.24889843e-02 2.23114280e-04 9.99921985e-01 -2.90705991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.738623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:137.34, Y:-22.99, Z:-2.92 [[ 9.80196219e-01 1.97603684e-01 1.29675196e-02 1.37337988e+02] [-1.97583526e-01 9.80281969e-01 -2.83044222e-03 -2.29874940e+01] [-1.32711315e-02 2.12220513e-04 9.99911912e-01 -2.91538254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.768623853 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:137.37, Y:-22.99, Z:-2.92 [[ 9.79842066e-01 1.99355936e-01 1.29126732e-02 1.37365256e+02] [-1.99336107e-01 9.79927128e-01 -2.81793244e-03 -2.29926621e+01] [-1.32152503e-02 1.87166728e-04 9.99912657e-01 -2.91565332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.798623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:137.39, Y:-23.00, Z:-2.92 [[ 9.79479773e-01 2.01129810e-01 1.28908751e-02 1.37393230e+02] [-2.01110214e-01 9.79564583e-01 -2.81221538e-03 -2.29978900e+01] [-1.31930650e-02 1.62021431e-04 9.99912955e-01 -2.91612392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.828623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:137.42, Y:-23.00, Z:-2.92 [[ 9.78812006e-01 2.04371702e-01 1.26199833e-02 1.37422074e+02] [-2.04353198e-01 9.78893352e-01 -2.75251685e-03 -2.30027618e+01] [-1.29161543e-02 1.15262588e-04 9.99916576e-01 -2.91754888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.858623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:137.45, Y:-23.01, Z:-2.92 [[ 9.78479110e-01 2.05972405e-01 1.24096745e-02 1.37449474e+02] [-2.05954647e-01 9.78557796e-01 -2.70613079e-03 -2.30079801e+01] [-1.27009720e-02 9.20623023e-05 9.99919335e-01 -2.91805704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.888623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:137.48, Y:-23.01, Z:-2.92 [[ 9.78157221e-01 2.07502205e-01 1.22998293e-02 1.37477493e+02] [-2.07484892e-01 9.78234547e-01 -2.68136352e-03 -2.30128750e+01] [-1.25885068e-02 7.07663416e-05 9.99920759e-01 -2.91859605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.918623853 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:137.50, Y:-23.02, Z:-2.92 [[ 9.77522665e-01 2.10502576e-01 1.17517898e-02 1.37504618e+02] [-2.10486994e-01 9.77593302e-01 -2.56142971e-03 -2.30166973e+01] [-1.20276586e-02 3.02566838e-05 9.99927665e-01 -2.91967872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94862385300002 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:137.53, Y:-23.02, Z:-2.92 [[ 9.77275880e-01 2.11656765e-01 1.15441541e-02 1.37531645e+02] [-2.11641817e-01 9.77344061e-01 -2.51545448e-03 -2.30216224e+01] [-1.18150234e-02 1.50672351e-05 9.99930200e-01 -2.92005466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97862385300002 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:137.56, Y:-23.03, Z:-2.92 [[ 9.77070208e-01 2.12586543e-01 1.18646448e-02 1.37559087e+02] [-2.12570830e-01 9.77142242e-01 -2.58464520e-03 -2.30268519e+01] [-1.21429064e-02 3.30242689e-06 9.99926272e-01 -2.92067913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00862385300002 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:137.59, Y:-23.03, Z:-2.92 [[ 9.76894035e-01 2.13413405e-01 1.15222989e-02 1.37586071e+02] [-2.13398652e-01 9.76961984e-01 -2.50934166e-03 -2.30320239e+01] [-1.17923752e-02 -7.48215997e-06 9.99930467e-01 -2.92099985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03862385300002 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:137.61, Y:-23.04, Z:-2.92 [[ 9.76786035e-01 2.13920768e-01 1.12671050e-02 1.37613904e+02] [-2.13906707e-01 9.76851015e-01 -2.45270944e-03 -2.30368841e+01] [-1.15309684e-02 -1.43370006e-05 9.99933516e-01 -2.92150928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06862385300002 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:137.64, Y:-23.04, Z:-2.92 [[ 9.76820789e-01 2.13768198e-01 1.11491791e-02 1.37641672e+02] [-2.13754429e-01 9.76884413e-01 -2.42628061e-03 -2.30422829e+01] [-1.14101209e-02 -1.31450693e-05 9.99934902e-01 -2.92201105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09862385300002 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:137.67, Y:-23.05, Z:-2.92 [[ 9.76893943e-01 2.13420047e-01 1.14064805e-02 1.37669101e+02] [-2.13405621e-01 9.76960533e-01 -2.48143709e-03 -2.30478252e+01] [-1.16732697e-02 -1.01061960e-05 9.99931865e-01 -2.92275222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12862385300002 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:137.70, Y:-23.05, Z:-2.92 [[ 9.77083702e-01 2.12521532e-01 1.19179887e-02 1.37696654e+02] [-2.12505727e-01 9.77156384e-01 -2.59183799e-03 -2.30529360e+01] [-1.21965601e-02 -1.98195095e-07 9.99925619e-01 -2.92288591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15862385300002 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:137.72, Y:-23.06, Z:-2.92 [[ 9.77473040e-01 2.10667189e-01 1.28760377e-02 1.37724378e+02] [-2.10648593e-01 9.77557842e-01 -2.79914071e-03 -2.30575250e+01] [-1.31767587e-02 2.37653513e-05 9.99913182e-01 -2.92371728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18862385300002 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:137.75, Y:-23.06, Z:-2.92 [[ 9.77737592e-01 2.09439517e-01 1.28175811e-02 1.37751314e+02] [-2.09420995e-01 9.77821603e-01 -2.78566462e-03 -2.30630172e+01] [-1.31167360e-02 3.93784345e-05 9.99913971e-01 -2.92376377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.218623853 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:137.78, Y:-23.07, Z:-2.92 [[ 9.78007976e-01 2.08174357e-01 1.27998278e-02 1.37778266e+02] [-2.08155799e-01 9.78091731e-01 -2.78018039e-03 -2.30690570e+01] [-1.30981680e-02 5.46802207e-05 9.99914214e-01 -2.92370706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:137.81, Y:-23.07, Z:-2.92 [[ 9.78332146e-01 2.06638397e-01 1.29145643e-02 1.37806128e+02] [-2.06619382e-01 9.78417379e-01 -2.80423537e-03 -2.30747843e+01] [-1.32152969e-02 7.50743060e-05 9.99912671e-01 -2.92478619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.278623853 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:137.83, Y:-23.08, Z:-2.93 [[ 9.78699677e-01 2.04878009e-01 1.31127471e-02 1.37833217e+02] [-2.04858262e-01 9.78787511e-01 -2.84619924e-03 -2.30802786e+01] [-1.34177167e-02 9.93196894e-05 9.99909973e-01 -2.92573157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:137.86, Y:-23.09, Z:-2.93 [[ 9.78803969e-01 2.04383274e-01 1.30486990e-02 1.37860167e+02] [-2.04363685e-01 9.78890937e-01 -2.83153086e-03 -2.30858959e+01] [-1.33519707e-02 1.04833435e-04 9.99910853e-01 -2.92587306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.338623853 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:137.89, Y:-23.09, Z:-2.93 [[ 9.78787399e-01 2.04447545e-01 1.32826743e-02 1.37888479e+02] [-2.04427268e-01 9.78877515e-01 -2.88129346e-03 -2.30922982e+01] [-1.35911846e-02 1.04832914e-04 9.99907630e-01 -2.92647082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:137.92, Y:-23.10, Z:-2.93 [[ 9.78779972e-01 2.04473157e-01 1.34348646e-02 1.37915443e+02] [-2.04452423e-01 9.78872166e-01 -2.91367884e-03 -2.30976877e+01] [-1.37467841e-02 1.05059867e-04 9.99905503e-01 -2.92663721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.398623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:137.94, Y:-23.10, Z:-2.93 [[ 9.78641524e-01 2.05104512e-01 1.38890719e-02 1.37944105e+02] [-2.05082430e-01 9.78740073e-01 -3.01120520e-03 -2.31028749e+01] [-1.42114030e-02 9.84858406e-05 9.99899008e-01 -2.92706629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:137.97, Y:-23.11, Z:-2.93 [[ 9.78561595e-01 2.05481144e-01 1.39536591e-02 1.37971805e+02] [-2.05458903e-01 9.78661071e-01 -3.02458711e-03 -2.31086962e+01] [-1.42773986e-02 9.28412919e-05 9.99898068e-01 -2.92749771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.458623853 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:138.00, Y:-23.11, Z:-2.93 [[ 9.78515801e-01 2.05710626e-01 1.37827829e-02 1.37999405e+02] [-2.05688962e-01 9.78612861e-01 -2.98666434e-03 -2.31144515e+01] [-1.41023972e-02 8.75319345e-05 9.99900552e-01 -2.92814942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488623853 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:138.03, Y:-23.12, Z:-2.93 [[ 9.78468516e-01 2.05940010e-01 1.37140580e-02 1.38026627e+02] [-2.05918598e-01 9.78564615e-01 -2.97077787e-03 -2.31199313e+01] [-1.40318939e-02 8.28330205e-05 9.99901545e-01 -2.92858035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.518623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:138.05, Y:-23.13, Z:-2.93 [[ 9.78413234e-01 2.06198212e-01 1.37783053e-02 1.38054465e+02] [-2.06176639e-01 9.78510241e-01 -2.98367825e-03 -2.31253860e+01] [-1.40974420e-02 7.85056022e-05 9.99900623e-01 -2.92894008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.548623853 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:138.08, Y:-23.13, Z:-2.93 [[ 9.78345922e-01 2.06513068e-01 1.38422841e-02 1.38082078e+02] [-2.06491340e-01 9.78443840e-01 -2.99651235e-03 -2.31311124e+01] [-1.41627165e-02 7.33138584e-05 9.99899701e-01 -2.92941828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.578623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:138.11, Y:-23.14, Z:-2.93 [[ 9.78330561e-01 2.06545306e-01 1.44343038e-02 1.38110075e+02] [-2.06521700e-01 9.78437035e-01 -3.12356126e-03 -2.31362448e+01] [-1.47682143e-02 7.48784837e-05 9.99890941e-01 -2.93015048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.608623853 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:138.14, Y:-23.14, Z:-2.93 [[ 9.78277021e-01 2.06777627e-01 1.47337231e-02 1.38138014e+02] [-2.06753074e-01 9.78387964e-01 -3.18725679e-03 -2.31417819e+01] [-1.50743508e-02 7.17775208e-05 9.99886373e-01 -2.93027761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.638623853 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:138.17, Y:-23.15, Z:-2.93 [[ 9.78187820e-01 2.07165105e-01 1.52055155e-02 1.38165993e+02] [-2.07139019e-01 9.78305993e-01 -3.28814752e-03 -2.31470300e+01] [-1.55568364e-02 6.67702821e-05 9.99878983e-01 -2.93117252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.668623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:138.19, Y:-23.15, Z:-2.93 [[ 9.78142539e-01 2.07396540e-01 1.49615536e-02 1.38192593e+02] [-2.07371328e-01 9.78256956e-01 -3.23435110e-03 -2.31526585e+01] [-1.53070371e-02 6.10591707e-05 9.99882839e-01 -2.93165802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:138.22, Y:-23.16, Z:-2.93 [[ 9.78165891e-01 2.07286357e-01 1.49617929e-02 1.38220471e+02] [-2.07261148e-01 9.78280309e-01 -3.23324378e-03 -2.31585242e+01] [-1.53070347e-02 6.16504136e-05 9.99882839e-01 -2.93220774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72862385300002 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:138.25, Y:-23.16, Z:-2.93 [[ 9.78144849e-01 2.07427255e-01 1.43731696e-02 1.38248372e+02] [-2.07404034e-01 9.78250444e-01 -3.10420128e-03 -2.31634803e+01] [-1.47044555e-02 5.53051316e-05 9.99891882e-01 -2.92513715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75862385300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:138.28, Y:-23.17, Z:-2.93 [[ 9.77957412e-01 2.08290195e-01 1.46456529e-02 1.38275773e+02] [-2.08266195e-01 9.78067070e-01 -3.16209441e-03 -2.31689044e+01] [-1.49830641e-02 4.21992463e-05 9.99887747e-01 -2.93376491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78862385300002 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:138.30, Y:-23.17, Z:-2.93 [[ 9.77903358e-01 2.08556965e-01 1.44573459e-02 1.38302347e+02] [-2.08533622e-01 9.78010220e-01 -3.12045181e-03 -2.31737003e+01] [-1.47902240e-02 3.66576003e-05 9.99890618e-01 -2.93433434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81862385300002 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:138.33, Y:-23.18, Z:-2.93 [[ 9.77785062e-01 2.09153583e-01 1.38257164e-02 1.38329862e+02] [-2.09132312e-01 9.77882804e-01 -2.98295166e-03 -2.31784797e+01] [-1.41438254e-02 2.52815351e-05 9.99899971e-01 -2.92985992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84862385300002 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:138.36, Y:-23.18, Z:-2.93 [[ 9.77669326e-01 2.09700851e-01 1.37201013e-02 1.38356922e+02] [-2.09679971e-01 9.77765592e-01 -2.95924875e-03 -2.31832885e+01] [-1.40355999e-02 1.63362968e-05 9.99901496e-01 -2.93077423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87862385300002 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:138.38, Y:-23.19, Z:-2.94 [[ 9.77506755e-01 2.10455782e-01 1.37443386e-02 1.38384092e+02] [-2.10434920e-01 9.77603377e-01 -2.96325704e-03 -2.31874370e+01] [-1.40601464e-02 4.31498206e-06 9.99901151e-01 -2.93674063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90862385300002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:138.41, Y:-23.19, Z:-2.94 [[ 9.77536117e-01 2.10345029e-01 1.33457621e-02 1.38411465e+02] [-2.10325361e-01 9.77627214e-01 -2.87641237e-03 -2.31927005e+01] [-1.36522192e-02 4.84475057e-06 9.99906804e-01 -2.93766566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93862385300002 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:138.44, Y:-23.20, Z:-2.94 [[ 9.77650887e-01 2.09820095e-01 1.32012046e-02 1.38439202e+02] [-2.09800815e-01 9.77740010e-01 -2.84433635e-03 -2.31986136e+01] [-1.35041449e-02 1.11444672e-05 9.99908815e-01 -2.93867364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968623853 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:138.47, Y:-23.20, Z:-2.94 [[ 9.77848376e-01 2.08900590e-01 1.31566340e-02 1.38466408e+02] [-2.08881370e-01 9.77936881e-01 -2.83376349e-03 -2.32046230e+01] [-1.34583324e-02 2.28152992e-05 9.99909432e-01 -2.93956168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.998623853 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:138.49, Y:-23.21, Z:-2.94 [[ 9.78426800e-01 2.06136979e-01 1.37310863e-02 1.38493768e+02] [-2.06115787e-01 9.78523143e-01 -2.95635708e-03 -2.32100821e+01] [-1.40456003e-02 6.23853284e-05 9.99901354e-01 -2.93985345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028623853 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:138.52, Y:-23.22, Z:-2.94 [[ 9.78739866e-01 2.04617816e-01 1.41359232e-02 1.38520800e+02] [-2.04595211e-01 9.78841939e-01 -3.04267550e-03 -2.32156677e+01] [-1.44594201e-02 8.58456267e-05 9.99895453e-01 -2.94028723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.058623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:138.55, Y:-23.22, Z:-2.94 [[ 9.79131483e-01 2.02715454e-01 1.44216158e-02 1.38547989e+02] [-2.02691734e-01 9.79237679e-01 -3.10309468e-03 -2.32214779e+01] [-1.47512348e-02 1.15195379e-04 9.99891188e-01 -2.94090324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088623853 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:138.57, Y:-23.23, Z:-2.94 [[ 9.79513195e-01 2.00873540e-01 1.42730919e-02 1.38574995e+02] [-2.00850127e-01 9.79617171e-01 -3.07005537e-03 -2.32279466e+01] [-1.45988588e-02 1.40407414e-04 9.99893421e-01 -2.94114472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.118623853 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:138.60, Y:-23.24, Z:-2.94 [[ 9.80246578e-01 1.97242591e-01 1.45604701e-02 1.38603266e+02] [-1.97217839e-01 9.80354692e-01 -3.13091575e-03 -2.32354925e+01] [-1.48919752e-02 1.97484995e-04 9.99889089e-01 -2.94161088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148623853 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:138.63, Y:-23.24, Z:-2.94 [[ 9.80543210e-01 1.95756011e-01 1.46491129e-02 1.38631497e+02] [-1.95730802e-01 9.80652607e-01 -3.14927232e-03 -2.32423590e+01] [-1.49821798e-02 2.20714970e-04 9.99887736e-01 -2.94217758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.178623853 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:138.66, Y:-23.25, Z:-2.94 [[ 9.81063100e-01 1.93095903e-01 1.51382543e-02 1.38657843e+02] [-1.93068676e-01 9.81179851e-01 -3.25372082e-03 -2.32499769e+01] [-1.54816303e-02 2.69382713e-04 9.99880116e-01 -2.94215071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208623853 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:138.69, Y:-23.26, Z:-2.93 [[ 9.81220205e-01 1.92326655e-01 1.47433659e-02 1.38685360e+02] [-1.92300756e-01 9.81330924e-01 -3.16800300e-03 -2.32560886e+01] [-1.50774123e-02 2.73348141e-04 9.99886292e-01 -2.93496038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.238623853 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:138.71, Y:-23.26, Z:-2.94 [[ 9.81377734e-01 1.91495619e-01 1.50722162e-02 1.38712654e+02] [-1.91468468e-01 9.81493425e-01 -3.23775556e-03 -2.32630279e+01] [-1.54132971e-02 2.91607065e-04 9.99881166e-01 -2.94381747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.268623853 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:138.74, Y:-23.27, Z:-2.94 [[ 9.81471755e-01 1.91002301e-01 1.52090637e-02 1.38740610e+02] [-1.90974610e-01 9.81589543e-01 -3.26621311e-03 -2.32699086e+01] [-1.55529121e-02 3.01150907e-04 9.99879001e-01 -2.94425679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.298623853 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:138.77, Y:-23.28, Z:-2.94 [[ 9.81701186e-01 1.89862135e-01 1.46680454e-02 1.38767608e+02] [-1.89836260e-01 9.81810713e-01 -3.14942589e-03 -2.32776692e+01] [-1.49992008e-02 3.07268245e-04 9.99887458e-01 -2.94497541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.328623853 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:138.80, Y:-23.28, Z:-2.95 [[ 9.81819223e-01 1.89243623e-01 1.47602540e-02 1.38795984e+02] [-1.89217366e-01 9.81930115e-01 -3.16831899e-03 -2.32845137e+01] [-1.50931221e-02 3.17820101e-04 9.99886042e-01 -2.94533554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.358623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:138.82, Y:-23.29, Z:-2.95 [[ 9.81915356e-01 1.88732452e-01 1.49095663e-02 1.38823415e+02] [-1.88705612e-01 9.82028489e-01 -3.19972851e-03 -2.32908667e+01] [-1.52455115e-02 3.28343723e-04 9.99883727e-01 -2.94608515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.388623853 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:138.85, Y:-23.30, Z:-2.95 [[ 9.81988707e-01 1.88347462e-01 1.49470063e-02 1.38851257e+02] [-1.88320458e-01 9.82102399e-01 -3.20676202e-03 -2.32978328e+01] [-1.52834763e-02 3.34177019e-04 9.99883145e-01 -2.94634315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.418623853 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:138.88, Y:-23.31, Z:-2.95 [[ 9.82187659e-01 1.87253386e-01 1.56068154e-02 1.38879832e+02] [-1.87223820e-01 9.82311578e-01 -3.34749518e-03 -2.33071269e+01] [-1.59575852e-02 3.65900856e-04 9.99872603e-01 -2.94688306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44862385300002 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:138.91, Y:-23.31, Z:-2.95 [[ 9.82309242e-01 1.86605163e-01 1.57183407e-02 1.38907933e+02] [-1.86575096e-01 9.82434919e-01 -3.37105524e-03 -2.33149451e+01] [-1.60713031e-02 3.78767793e-04 9.99870777e-01 -2.94711707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47862385300002 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:138.93, Y:-23.32, Z:-2.95 [[ 9.82422222e-01 1.85990569e-01 1.59400885e-02 1.38934522e+02] [-1.85959576e-01 9.82551451e-01 -3.41805617e-03 -2.33224569e+01] [-1.62976833e-02 3.93762247e-04 9.99867106e-01 -2.94695748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50862385300002 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:138.96, Y:-23.33, Z:-2.95 [[ 9.82622505e-01 1.84912923e-01 1.61314621e-02 1.38961337e+02] [-1.84881051e-01 9.82754821e-01 -3.45817534e-03 -2.33296723e+01] [-1.64927335e-02 4.15679232e-04 9.99863899e-01 -2.94752745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53862385300002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:138.99, Y:-23.34, Z:-2.95 [[ 9.82997361e-01 1.82881828e-01 1.64446201e-02 1.38989061e+02] [-1.82848438e-01 9.83134796e-01 -3.52434661e-03 -2.33400102e+01] [-1.68118172e-02 4.57550321e-04 9.99858567e-01 -2.94909088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:139.02, Y:-23.35, Z:-2.95 [[ 9.83169651e-01 1.81962568e-01 1.63419807e-02 1.39017109e+02] [-1.81929480e-01 9.83305346e-01 -3.50157545e-03 -2.33486190e+01] [-1.67063127e-02 4.69554667e-04 9.99860330e-01 -2.94971350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59862385300002 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:139.04, Y:-23.36, Z:-2.95 [[ 9.83298286e-01 1.81294505e-01 1.60244739e-02 1.39044995e+02] [-1.81262606e-01 9.83428737e-01 -3.43322690e-03 -2.33570487e+01] [-1.63813533e-02 4.71248219e-04 9.99865706e-01 -2.95022165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62862385300002 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:139.07, Y:-23.37, Z:-2.95 [[ 9.83333584e-01 1.81139676e-01 1.56038538e-02 1.39073785e+02] [-1.81109419e-01 9.83457272e-01 -3.34256909e-03 -2.33659280e+01] [-1.59511953e-02 4.60855542e-04 9.99872665e-01 -2.95110291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65862385300002 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:139.10, Y:-23.38, Z:-2.95 [[ 9.83197505e-01 1.81932447e-01 1.49416011e-02 1.39100141e+02] [-1.81904800e-01 9.83310938e-01 -3.20043836e-03 -2.33774630e+01] [-1.52745034e-02 4.28714039e-04 9.99883246e-01 -2.95166282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68862385300002 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:139.13, Y:-23.39, Z:-2.95 [[ 9.83032712e-01 1.82814951e-01 1.50127069e-02 1.39129763e+02] [-1.82787153e-01 9.83147253e-01 -3.21505086e-03 -2.33865916e+01] [-1.53474609e-02 4.16370213e-04 9.99882134e-01 -2.95218211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.718623853 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:139.16, Y:-23.40, Z:-2.95 [[ 9.82784739e-01 1.84141518e-01 1.50352059e-02 1.39158850e+02] [-1.84113792e-01 9.82899661e-01 -3.21982240e-03 -2.33956506e+01] [-1.53710018e-02 3.96203541e-04 9.99881781e-01 -2.95283534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748623853 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:139.19, Y:-23.41, Z:-2.95 [[ 9.82485636e-01 1.85735385e-01 1.49780575e-02 1.39190035e+02] [-1.85708062e-01 9.82599730e-01 -3.20713666e-03 -2.34052032e+01] [-1.53131140e-02 3.69419669e-04 9.99882679e-01 -2.95357167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.778623853 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:139.22, Y:-23.42, Z:-2.95 [[ 9.81940592e-01 1.88562004e-01 1.53962530e-02 1.39219605e+02] [-1.88533428e-01 9.82061229e-01 -3.29992733e-03 -2.34175103e+01] [-1.57423040e-02 3.37624239e-04 9.99876025e-01 -2.95407215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808623853 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:139.25, Y:-23.43, Z:-2.95 [[ 9.81625996e-01 1.90193166e-01 1.53936083e-02 1.39250717e+02] [-1.90164800e-01 9.81746639e-01 -3.29944779e-03 -2.34271673e+01] [-1.57401556e-02 3.11501291e-04 9.99876068e-01 -2.95445019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.838623853 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:139.28, Y:-23.44, Z:-2.96 [[ 9.81294085e-01 1.91888418e-01 1.55162287e-02 1.39282071e+02] [-1.91859766e-01 9.81416706e-01 -3.32850157e-03 -2.34365957e+01] [-1.58665870e-02 2.89298902e-04 9.99874076e-01 -2.95529030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868623853 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:139.31, Y:-23.45, Z:-2.96 [[ 9.80900437e-01 1.93892906e-01 1.54878799e-02 1.39313149e+02] [-1.93864565e-01 9.81022667e-01 -3.32513893e-03 -2.34459942e+01] [-1.58386821e-02 2.59079109e-04 9.99874527e-01 -2.95660054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.898623853 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:139.34, Y:-23.46, Z:-2.96 [[ 9.80058089e-01 1.98154736e-01 1.48607548e-02 1.39342594e+02] [-1.98129094e-01 9.80170733e-01 -3.19305940e-03 -2.34572732e+01] [-1.51987967e-02 1.85035818e-04 9.99884474e-01 -2.95747318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928623853 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:139.37, Y:-23.47, Z:-2.96 [[ 9.79513097e-01 2.00837292e-01 1.47809280e-02 1.39372637e+02] [-2.00812185e-01 9.79624602e-01 -3.17889242e-03 -2.34656668e+01] [-1.51182009e-02 1.45576300e-04 9.99885703e-01 -2.95776734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.958623853 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:139.40, Y:-23.47, Z:-2.96 [[ 9.78935502e-01 2.03635980e-01 1.47536914e-02 1.39402781e+02] [-2.03611278e-01 9.79046667e-01 -3.17339624e-03 -2.34733001e+01] [-1.50907701e-02 1.02532269e-04 9.99886123e-01 -2.95837972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988623853 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:139.43, Y:-23.48, Z:-2.96 [[ 9.78299213e-01 2.06678426e-01 1.46519287e-02 1.39432436e+02] [-2.06654398e-01 9.78408925e-01 -3.15192098e-03 -2.34807229e+01] [-1.49870119e-02 5.56363079e-05 9.99887687e-01 -2.95911773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.018623853 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:139.46, Y:-23.49, Z:-2.96 [[ 9.77042308e-01 2.12568040e-01 1.42532887e-02 1.39462384e+02] [-2.12545925e-01 9.77146267e-01 -3.06639227e-03 -2.34884246e+01] [-1.45793649e-02 -3.34834567e-05 9.99893715e-01 -2.95993679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.048623853 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:139.49, Y:-23.50, Z:-2.96 [[ 9.76444661e-01 2.15308082e-01 1.40802803e-02 1.39491517e+02] [-2.15286786e-01 9.76546171e-01 -3.02910681e-03 -2.34950821e+01] [-1.44022350e-02 -7.35431339e-05 9.99896280e-01 -2.96065405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.078623853 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:139.52, Y:-23.50, Z:-2.96 [[ 9.75887359e-01 2.17803880e-01 1.43294498e-02 1.39521758e+02] [-2.17782088e-01 9.75992550e-01 -3.08297251e-03 -2.35018733e+01] [-1.46569197e-02 -1.12063608e-04 9.99892575e-01 -2.96098835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.108623853 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:139.55, Y:-23.51, Z:-2.96 [[ 9.75393613e-01 2.19970941e-01 1.48352441e-02 1.39552320e+02] [-2.19947836e-01 9.75506413e-01 -3.19169116e-03 -2.35088534e+01] [-1.51739551e-02 -1.49824661e-04 9.99884858e-01 -2.96157400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.138623853 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:139.58, Y:-23.52, Z:-2.96 [[ 9.74656113e-01 2.23193053e-01 1.51763708e-02 1.39581965e+02] [-2.23169256e-01 9.74774240e-01 -3.26552726e-03 -2.35165807e+01] [-1.55223784e-02 -2.04133282e-04 9.99879500e-01 -2.96270256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.168623853 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:139.61, Y:-23.52, Z:-2.96 [[ 9.74410666e-01 2.24262117e-01 1.51774861e-02 1.39612358e+02] [-2.24238444e-01 9.74528837e-01 -3.26591489e-03 -2.35232830e+01] [-1.55233189e-02 -2.21033563e-04 9.99879482e-01 -2.96309704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19862385300002 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:139.64, Y:-23.53, Z:-2.96 [[ 9.74224872e-01 2.25063895e-01 1.52361932e-02 1.39643227e+02] [-2.25040131e-01 9.74343978e-01 -3.27892816e-03 -2.35295102e+01] [-1.55832614e-02 -2.34341540e-04 9.99878546e-01 -2.96417117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22862385300002 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:139.67, Y:-23.53, Z:-2.96 [[ 9.74078140e-01 2.25681686e-01 1.54774971e-02 1.39672574e+02] [-2.25657233e-01 9.74201065e-01 -3.33137725e-03 -2.35348740e+01] [-1.58300250e-02 -2.47587420e-04 9.99874667e-01 -2.96435677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25862385300002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:139.70, Y:-23.54, Z:-2.96 [[ 9.74114951e-01 2.25496321e-01 1.58578525e-02 1.39702848e+02] [-2.25470631e-01 9.74243987e-01 -3.41300511e-03 -2.35405421e+01] [-1.62190376e-02 -2.50820703e-04 9.99868431e-01 -2.96479559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28862385300002 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:139.73, Y:-23.55, Z:-2.97 [[ 9.74224004e-01 2.25024966e-01 1.58541989e-02 1.39732099e+02] [-2.24999224e-01 9.74352968e-01 -3.41225531e-03 -2.35460909e+01] [-1.62154284e-02 -2.42881419e-04 9.99868492e-01 -2.96555509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31862385300002 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:139.76, Y:-23.55, Z:-2.97 [[ 9.74376681e-01 2.24385693e-01 1.55288154e-02 1.39761885e+02] [-2.24360920e-01 9.74500389e-01 -3.34199945e-03 -2.35523753e+01] [-1.58827335e-02 -2.27692974e-04 9.99873836e-01 -2.96659981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34862385300002 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:139.79, Y:-23.56, Z:-2.97 [[ 9.75002351e-01 2.21683910e-01 1.50551921e-02 1.39791767e+02] [-2.21660302e-01 9.75118563e-01 -3.24006966e-03 -2.35597266e+01] [-1.53988686e-02 -1.78062892e-04 9.99881415e-01 -2.96715366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37862385300002 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:139.82, Y:-23.57, Z:-2.97 [[ 9.75399167e-01 2.19923790e-01 1.51654610e-02 1.39821501e+02] [-2.19899623e-01 9.75517044e-01 -3.26380095e-03 -2.35660881e+01] [-1.55119532e-02 -1.51370436e-04 9.99879671e-01 -2.96767812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40862385300002 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:139.85, Y:-23.57, Z:-2.97 [[ 9.75868538e-01 2.17837888e-01 1.50748512e-02 1.39851207e+02] [-2.17813759e-01 9.75984959e-01 -3.24430055e-03 -2.35722153e+01] [-1.54195596e-02 -1.17499167e-04 9.99881105e-01 -2.96844182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43862385300002 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:139.88, Y:-23.58, Z:-2.97 [[ 9.76269680e-01 2.16032124e-01 1.50875450e-02 1.39880371e+02] [-2.16007743e-01 9.76386252e-01 -3.24681744e-03 -2.35784346e+01] [-1.54326884e-02 -8.92571192e-05 9.99880905e-01 -2.96955002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:139.91, Y:-23.59, Z:-2.97 [[ 9.76706759e-01 2.14032716e-01 1.52938936e-02 1.39910985e+02] [-2.14007402e-01 9.76826491e-01 -3.29222534e-03 -2.35853137e+01] [-1.56441244e-02 -5.74677108e-05 9.99877622e-01 -2.97002882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.498623853 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:139.94, Y:-23.59, Z:-2.97 [[ 9.77397132e-01 2.10817562e-01 1.58367593e-02 1.39940706e+02] [-2.10789989e-01 9.77525425e-01 -3.40952416e-03 -2.35922094e+01] [-1.61996224e-02 -5.77117529e-06 9.99868777e-01 -2.97023133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:139.97, Y:-23.60, Z:-2.97 [[ 9.77630747e-01 2.09725094e-01 1.59218903e-02 1.39970998e+02] [-2.09697077e-01 9.77760392e-01 -3.42801197e-03 -2.35986136e+01] [-1.62867338e-02 1.25560669e-05 9.99867362e-01 -2.97065953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.558623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:140.00, Y:-23.61, Z:-2.97 [[ 9.77621937e-01 2.09766166e-01 1.59218231e-02 1.40002100e+02] [-2.09738149e-01 9.77751582e-01 -3.42832409e-03 -2.36053676e+01] [-1.62867341e-02 1.21911316e-05 9.99867362e-01 -2.97127377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:140.03, Y:-23.61, Z:-2.97 [[ 9.77777391e-01 2.09042721e-01 1.58906893e-02 1.40033023e+02] [-2.09014706e-01 9.77906509e-01 -3.42237615e-03 -2.36122748e+01] [-1.62550313e-02 2.49342673e-05 9.99867878e-01 -2.97180276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.618623853 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:140.06, Y:-23.62, Z:-2.97 [[ 9.77942739e-01 2.08256783e-01 1.60346697e-02 1.40062146e+02] [-2.08228145e-01 9.78074185e-01 -3.45381077e-03 -2.36187804e+01] [-1.64023760e-02 3.87596346e-05 9.99865471e-01 -2.97227405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:140.09, Y:-23.62, Z:-2.97 [[ 9.78086539e-01 2.07577386e-01 1.60733268e-02 1.40091372e+02] [-2.07548515e-01 9.78218598e-01 -3.46233125e-03 -2.36248012e+01] [-1.64419289e-02 5.04644701e-05 9.99864821e-01 -2.97264130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.678623853 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:140.12, Y:-23.63, Z:-2.97 [[ 9.78124357e-01 2.07424933e-01 1.57365750e-02 1.40122427e+02] [-2.07397237e-01 9.78250936e-01 -3.38993534e-03 -2.36308374e+01] [-1.60974763e-02 5.20561520e-05 9.99870426e-01 -2.97288927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:140.15, Y:-23.64, Z:-2.97 [[ 9.78071851e-01 2.07685204e-01 1.55663268e-02 1.40152436e+02] [-2.07658130e-01 9.78195713e-01 -3.35367891e-03 -2.36374528e+01] [-1.59234237e-02 4.76646199e-05 9.99873213e-01 -2.97324486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.738623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:140.18, Y:-23.64, Z:-2.97 [[ 9.78072480e-01 2.07692435e-01 1.54297486e-02 1.40182353e+02] [-2.07665831e-01 9.78194178e-01 -3.32448246e-03 -2.36437470e+01] [-1.57837601e-02 4.73532271e-05 9.99875428e-01 -2.97344503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.768623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:140.21, Y:-23.65, Z:-2.97 [[ 9.77989517e-01 2.08075786e-01 1.55232692e-02 1.40211793e+02] [-2.08048907e-01 9.78112706e-01 -3.34467149e-03 -2.36488874e+01] [-1.58794520e-02 4.14544604e-05 9.99873913e-01 -2.97422581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.798623853 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:140.24, Y:-23.65, Z:-2.97 [[ 9.77934254e-01 2.08322067e-01 1.57006498e-02 1.40241367e+02] [-2.08294604e-01 9.78060282e-01 -3.38273995e-03 -2.36541089e+01] [-1.60608813e-02 3.77366388e-05 9.99871015e-01 -2.97087443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.828623853 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:140.27, Y:-23.66, Z:-2.98 [[ 9.77955660e-01 2.08155149e-01 1.65578193e-02 1.40270182e+02] [-2.08124589e-01 9.78095819e-01 -3.56701011e-03 -2.36589777e+01] [-1.69376253e-02 4.22884045e-05 9.99856547e-01 -2.97560480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.858623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:140.30, Y:-23.66, Z:-2.98 [[ 9.77992440e-01 2.07977740e-01 1.66146772e-02 1.40299744e+02] [-2.07946950e-01 9.78133558e-01 -3.57887183e-03 -2.36648840e+01] [-1.69956990e-02 4.51381602e-05 9.99855562e-01 -2.97609136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.888623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:140.33, Y:-23.67, Z:-2.98 [[ 9.78094423e-01 2.07504292e-01 1.65308170e-02 1.40329077e+02] [-2.07473751e-01 9.78234106e-01 -3.56042850e-03 -2.36706213e+01] [-1.69098132e-02 5.27246460e-05 9.99857017e-01 -2.97636907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.918623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:140.36, Y:-23.68, Z:-2.98 [[ 9.78185042e-01 2.07033412e-01 1.70643000e-02 1.40358344e+02] [-2.07000803e-01 9.78333871e-01 -3.67492417e-03 -2.36764348e+01] [-1.74554148e-02 6.24320524e-05 9.99847641e-01 -2.97730048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94862385300002 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:140.39, Y:-23.68, Z:-2.98 [[ 9.78332543e-01 2.06355991e-01 1.68118819e-02 1.40386237e+02] [-2.06324246e-01 9.78476980e-01 -3.62020897e-03 -2.36821610e+01] [-1.71970913e-02 7.30693883e-05 9.99852116e-01 -2.97757967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97862385300002 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:140.42, Y:-23.69, Z:-2.98 [[ 9.78377511e-01 2.06179540e-01 1.63536705e-02 1.40415667e+02] [-2.06149487e-01 9.78514176e-01 -3.52096815e-03 -2.36880277e+01] [-1.67282500e-02 7.35352692e-05 9.99860070e-01 -2.97769133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00862385300002 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:140.45, Y:-23.69, Z:-2.98 [[ 9.78390297e-01 2.06125069e-01 1.62752100e-02 1.40445159e+02] [-2.06095302e-01 9.78525651e-01 -3.50370849e-03 -2.36939406e+01] [-1.66479126e-02 7.37500632e-05 9.99861411e-01 -2.97848489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03862385300002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:140.47, Y:-23.70, Z:-2.98 [[ 9.78479417e-01 2.05699606e-01 1.63003756e-02 1.40474222e+02] [-2.05669694e-01 9.78615177e-01 -3.50875602e-03 -2.37000127e+01] [-1.66735447e-02 8.07522722e-05 9.99860984e-01 -2.97909558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06862385300002 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:140.50, Y:-23.71, Z:-2.98 [[ 9.78736385e-01 2.04451838e-01 1.65691042e-02 1.40501775e+02] [-2.04420759e-01 9.78876619e-01 -3.56624665e-03 -2.37062169e+01] [-1.69482344e-02 1.03346504e-04 9.99856363e-01 -2.97992331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09862385300002 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:140.53, Y:-23.71, Z:-2.98 [[ 9.78903251e-01 2.03673794e-01 1.62914409e-02 1.40530266e+02] [-2.03643649e-01 9.79038800e-01 -3.50591766e-03 -2.37124810e+01] [-1.66640163e-02 1.14305720e-04 9.99861139e-01 -2.98069620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12862385300002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:140.56, Y:-23.72, Z:-2.98 [[ 9.79059479e-01 2.02909423e-01 1.64408954e-02 1.40558691e+02] [-2.02878621e-01 9.79197503e-01 -3.53770997e-03 -2.37189958e+01] [-1.68167184e-02 1.28122288e-04 9.99858581e-01 -2.98158722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15862385300002 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:140.59, Y:-23.73, Z:-2.98 [[ 9.79451171e-01 2.01025516e-01 1.62525596e-02 1.40588880e+02] [-2.00995164e-01 9.79585993e-01 -3.49670750e-03 -2.37264803e+01] [-1.66237072e-02 1.58168356e-04 9.99861804e-01 -2.98244347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:140.62, Y:-23.73, Z:-2.98 [[ 9.79512887e-01 2.00742387e-01 1.60311880e-02 1.40618290e+02] [-2.00712812e-01 9.79644052e-01 -3.44950054e-03 -2.37333473e+01] [-1.63973189e-02 1.61165419e-04 9.99865542e-01 -2.98311239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.218623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:140.65, Y:-23.74, Z:-2.98 [[ 9.79537230e-01 2.00619459e-01 1.60825555e-02 1.40649142e+02] [-2.00589674e-01 9.79669233e-01 -3.46071557e-03 -2.37403008e+01] [-1.64498717e-02 1.63905177e-04 9.99864678e-01 -2.98400929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:140.68, Y:-23.75, Z:-2.98 [[ 9.79499671e-01 2.00816447e-01 1.59106379e-02 1.40678891e+02] [-2.00787315e-01 9.79628873e-01 -3.42413854e-03 -2.37472279e+01] [-1.62741436e-02 1.59288313e-04 9.99867555e-01 -2.98448770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.278623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:140.71, Y:-23.75, Z:-2.99 [[ 9.79429078e-01 2.01199670e-01 1.54069646e-02 1.40707555e+02] [-2.01172396e-01 9.79550239e-01 -3.31603795e-03 -2.37537084e+01] [-1.57590816e-02 1.48367997e-04 9.99875807e-01 -2.98503453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:140.74, Y:-23.76, Z:-2.99 [[ 9.79092062e-01 2.02909492e-01 1.43691702e-02 1.40738892e+02] [-2.02885970e-01 9.79197491e-01 -3.09150502e-03 -2.37612803e+01] [-1.46975511e-02 1.11564990e-04 9.99891979e-01 -2.98504297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.338623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:140.77, Y:-23.77, Z:-2.99 [[ 9.78964476e-01 2.03534136e-01 1.42270575e-02 1.40768066e+02] [-2.03511097e-01 9.79067845e-01 -3.06414142e-03 -2.37676882e+01] [-1.45529119e-02 1.04321522e-04 9.99894095e-01 -2.98611884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368623853 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:140.80, Y:-23.77, Z:-2.99 [[ 9.78811949e-01 2.04259581e-01 1.43245530e-02 1.40797393e+02] [-2.04236300e-01 9.78916756e-01 -3.08532018e-03 -2.37744355e+01] [-1.46527512e-02 9.43545557e-05 9.99892638e-01 -2.98705321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.398623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:140.83, Y:-23.78, Z:-2.99 [[ 9.78702732e-01 2.04773189e-01 1.44534915e-02 1.40828303e+02] [-2.04749541e-01 9.78809447e-01 -3.11321879e-03 -2.37814634e+01] [-1.47847177e-02 8.75699967e-05 9.99890696e-01 -2.98794334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:140.86, Y:-23.79, Z:-2.99 [[ 9.78386703e-01 2.06245408e-01 1.49094067e-02 1.40858790e+02] [-2.06220409e-01 9.78500295e-01 -3.21179751e-03 -2.37884122e+01] [-1.52512774e-02 6.77560305e-05 9.99883690e-01 -2.98871909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.458623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:140.89, Y:-23.79, Z:-2.99 [[ 9.78256097e-01 2.06851588e-01 1.50807773e-02 1.40888756e+02] [-2.06826077e-01 9.78372330e-01 -3.24914370e-03 -2.37944413e+01] [-1.54267057e-02 5.93966346e-05 9.99881000e-01 -2.98902830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:140.92, Y:-23.80, Z:-2.99 [[ 9.78098595e-01 2.07595057e-01 1.50807959e-02 1.40918909e+02] [-2.07569632e-01 9.78214849e-01 -3.24928891e-03 -2.38008512e+01] [-1.54267948e-02 4.78096580e-05 9.99880999e-01 -2.98981408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.518623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:140.95, Y:-23.81, Z:-2.99 [[ 9.77970728e-01 2.08209584e-01 1.49004694e-02 1.40948889e+02] [-2.08184829e-01 9.78084233e-01 -3.21084611e-03 -2.38072019e+01] [-1.52424431e-02 3.80618445e-05 9.99883826e-01 -2.99047231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.548623853 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:140.98, Y:-23.81, Z:-2.99 [[ 9.77717822e-01 2.09374046e-01 1.51779481e-02 1.40978763e+02] [-2.09348496e-01 9.77835625e-01 -3.27087414e-03 -2.38131982e+01] [-1.55263745e-02 2.05113276e-05 9.99879458e-01 -2.99125722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.578623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:141.01, Y:-23.82, Z:-2.99 [[ 9.77609493e-01 2.09889961e-01 1.50294021e-02 1.41008431e+02] [-2.09864970e-01 9.77725015e-01 -3.23886221e-03 -2.38195543e+01] [-1.53744270e-02 1.21974284e-05 9.99881806e-01 -2.99194388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.608623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:141.04, Y:-23.83, Z:-2.99 [[ 9.77468863e-01 2.10560945e-01 1.47888747e-02 1.41039447e+02] [-2.10536825e-01 9.77580733e-01 -3.18692676e-03 -2.38266031e+01] [-1.51283613e-02 1.51893653e-06 9.99885560e-01 -2.99211301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.638623853 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:141.07, Y:-23.83, Z:-2.99 [[ 9.77305532e-01 2.11348582e-01 1.43413688e-02 1.41068861e+02] [-2.11325980e-01 9.77410751e-01 -3.09089089e-03 -2.38329403e+01] [-1.46706634e-02 -9.95903754e-06 9.99892380e-01 -2.99261492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.668623853 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:141.10, Y:-23.84, Z:-2.99 [[ 9.76998527e-01 2.12763098e-01 1.43437409e-02 1.41097694e+02] [-2.12740636e-01 9.77103814e-01 -3.09174239e-03 -2.38377670e+01] [-1.46731326e-02 -3.08687914e-05 9.99892343e-01 -2.99326584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:141.13, Y:-23.84, Z:-2.99 [[ 9.76881473e-01 2.13298751e-01 1.43607457e-02 1.41128089e+02] [-2.13276299e-01 9.76987022e-01 -3.09496287e-03 -2.38433551e+01] [-1.46904139e-02 -3.93947987e-05 9.99892089e-01 -2.99438499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72862385300002 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:141.16, Y:-23.85, Z:-3.00 [[ 9.76805346e-01 2.13660618e-01 1.41582850e-02 1.41158358e+02] [-2.13638834e-01 9.76907948e-01 -3.05127044e-03 -2.38491663e+01] [-1.44832775e-02 -4.42622292e-05 9.99895111e-01 -2.99500174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:141.19, Y:-23.85, Z:-3.00 [[ 9.76797725e-01 2.13691531e-01 1.42174070e-02 1.41188197e+02] [-2.13669565e-01 9.76901186e-01 -3.06419209e-03 -2.38546957e+01] [-1.45437937e-02 -4.47313108e-05 9.99894232e-01 -2.99595672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:141.22, Y:-23.86, Z:-3.00 [[ 9.76841609e-01 2.13490119e-01 1.42281149e-02 1.41217441e+02] [-2.13468093e-01 9.76945222e-01 -3.06684706e-03 -2.38587109e+01] [-1.45548305e-02 -4.14247484e-05 9.99894072e-01 -2.99706427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:141.25, Y:-23.86, Z:-3.00 [[ 9.76930986e-01 2.13080494e-01 1.42320274e-02 1.41247121e+02] [-2.13058419e-01 9.77034647e-01 -3.06734406e-03 -2.38638320e+01] [-1.45587751e-02 -3.56697927e-05 9.99894015e-01 -2.99781706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:141.27, Y:-23.87, Z:-3.00 [[ 9.77095180e-01 2.12336820e-01 1.40742076e-02 1.41274987e+02] [-2.12315158e-01 9.77196538e-01 -3.03304607e-03 -2.38687386e+01] [-1.43972943e-02 -2.45929075e-05 9.99896353e-01 -2.99860290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:141.31, Y:-23.87, Z:-3.00 [[ 9.77470385e-01 2.10593779e-01 1.42093879e-02 1.41305002e+02] [-2.10571525e-01 9.77573660e-01 -3.06147545e-03 -2.38746084e+01] [-1.45354510e-02 4.09109130e-07 9.99894355e-01 -2.99934816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90862385300002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:141.34, Y:-23.88, Z:-3.00 [[ 9.77702192e-01 2.09538329e-01 1.38604896e-02 1.41335968e+02] [-2.09517050e-01 9.77800434e-01 -2.98617742e-03 -2.38807872e+01] [-1.41785113e-02 1.55833191e-05 9.99899480e-01 -2.99931737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.37, Y:-23.89, Z:-3.00 [[ 9.77922542e-01 2.08522284e-01 1.36366486e-02 1.41365610e+02] [-2.08501583e-01 9.78017615e-01 -2.93835506e-03 -2.38864986e+01] [-1.39495950e-02 3.02208454e-05 9.99902699e-01 -2.99985653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968623853 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:141.39, Y:-23.89, Z:-3.00 [[ 9.78173532e-01 2.07346125e-01 1.35692697e-02 1.41394488e+02] [-2.07325511e-01 9.78267643e-01 -2.92413854e-03 -2.38919546e+01] [-1.38806863e-02 4.70591594e-05 9.99903658e-01 -3.00063733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.998623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:141.42, Y:-23.90, Z:-3.00 [[ 9.78722766e-01 2.04667491e-01 1.45933327e-02 1.41424671e+02] [-2.04643353e-01 9.78831553e-01 -3.14456895e-03 -2.38979748e+01] [-1.49280056e-02 9.12326727e-05 9.99888567e-01 -3.00143973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:141.45, Y:-23.90, Z:-3.00 [[ 9.79018977e-01 2.03223090e-01 1.49069646e-02 1.41454052e+02] [-2.03197737e-01 9.79132454e-01 -3.21210113e-03 -2.39042663e+01] [-1.52486659e-02 1.15646492e-04 9.99883726e-01 -3.00211475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.058623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:141.48, Y:-23.91, Z:-3.00 [[ 9.79359537e-01 2.01558937e-01 1.51291798e-02 1.41483608e+02] [-2.01532622e-01 9.79476378e-01 -3.26000776e-03 -2.39105373e+01] [-1.54757579e-02 1.43696416e-04 9.99880233e-01 -3.00221594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:141.51, Y:-23.92, Z:-3.00 [[ 9.79674993e-01 1.99993046e-01 1.54818937e-02 1.41513022e+02] [-1.99965278e-01 9.79797301e-01 -3.33711422e-03 -2.39172234e+01] [-1.58365173e-02 1.73446173e-04 9.99874579e-01 -3.00313013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:141.54, Y:-23.92, Z:-3.00 [[ 9.80256737e-01 1.97125956e-01 1.54300807e-02 1.41543885e+02] [-1.97098019e-01 9.80378146e-01 -3.32586288e-03 -2.39246687e+01] [-1.57829278e-02 2.18961163e-04 9.99875418e-01 -3.00423829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:141.57, Y:-23.93, Z:-3.00 [[ 9.80484370e-01 1.96012517e-01 1.51490180e-02 1.41574383e+02] [-1.95985450e-01 9.80601366e-01 -3.26563963e-03 -2.39317919e+01] [-1.54952540e-02 2.32921509e-04 9.99879914e-01 -3.00456296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.178623853 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:141.60, Y:-23.94, Z:-3.01 [[ 9.80683664e-01 1.95019306e-01 1.50672529e-02 1.41603503e+02] [-1.94992407e-01 9.80799372e-01 -3.24842363e-03 -2.39387021e+01] [-1.54114575e-02 2.47676078e-04 9.99881206e-01 -3.00505338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:141.63, Y:-23.95, Z:-3.01 [[ 9.80806756e-01 1.94408675e-01 1.49457180e-02 1.41633705e+02] [-1.94382135e-01 9.80920589e-01 -3.22235335e-03 -2.39459258e+01] [-1.52870159e-02 2.55325362e-04 9.99883114e-01 -3.00556111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.238623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.66, Y:-23.95, Z:-3.01 [[ 9.80876705e-01 1.94049460e-01 1.50232133e-02 1.41664336e+02] [-1.94022597e-01 9.80991712e-01 -3.23942297e-03 -2.39527297e+01] [-1.53662561e-02 2.62631665e-04 9.99881898e-01 -3.00630524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.268623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:141.69, Y:-23.96, Z:-3.01 [[ 9.80862394e-01 1.94154947e-01 1.45883328e-02 1.41694010e+02] [-1.94129626e-01 9.80970842e-01 -3.14585167e-03 -2.39593669e+01] [-1.49215117e-02 2.53620028e-04 9.99888636e-01 -3.00670207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.298623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.72, Y:-23.97, Z:-3.01 [[ 9.80855718e-01 1.94162246e-01 1.49359729e-02 1.41723919e+02] [-1.94135688e-01 9.80969395e-01 -3.22183978e-03 -2.39661557e+01] [-1.52772920e-02 2.60554594e-04 9.99883261e-01 -3.00776502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.328623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:141.75, Y:-23.97, Z:-3.01 [[ 9.80798615e-01 1.94444268e-01 1.50167419e-02 1.41754221e+02] [-1.94417453e-01 9.80913533e-01 -3.23939521e-03 -2.39733531e+01] [-1.53600072e-02 2.57677616e-04 9.99881995e-01 -3.00803339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.358623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:141.78, Y:-23.98, Z:-3.01 [[ 9.80697538e-01 1.94965044e-01 1.48651000e-02 1.41783397e+02] [-1.94938821e-01 9.80810160e-01 -3.20707733e-03 -2.39801642e+01] [-1.52051091e-02 2.47387764e-04 9.99884365e-01 -3.00795344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.388623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:141.81, Y:-23.99, Z:-3.01 [[ 9.80463981e-01 1.96103915e-01 1.52851870e-02 1.41813248e+02] [-1.96076325e-01 9.80583091e-01 -3.29793721e-03 -2.39870690e+01] [-1.56351344e-02 2.36445346e-04 9.99877736e-01 -3.00893322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.418623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:141.84, Y:-23.99, Z:-3.01 [[ 9.80326176e-01 1.96759427e-01 1.56945007e-02 1.41842973e+02] [-1.96730423e-01 9.80451770e-01 -3.38625086e-03 -2.39935949e+01] [-1.60539777e-02 2.32044600e-04 9.99871100e-01 -3.00917248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:141.87, Y:-24.00, Z:-3.01 [[ 9.80188298e-01 1.97442022e-01 1.57336466e-02 1.41872108e+02] [-1.97412963e-01 9.80314541e-01 -3.39452793e-03 -2.40002825e+01] [-1.60941450e-02 2.21250758e-04 9.99870456e-01 -3.00992462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.90, Y:-24.01, Z:-3.01 [[ 9.80045998e-01 1.98209327e-01 1.49299804e-02 1.41903335e+02] [-1.98183246e-01 9.80159693e-01 -3.22141446e-03 -2.40084709e+01] [-1.52722793e-02 1.98262379e-04 9.99883352e-01 -3.01109013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.93, Y:-24.02, Z:-3.01 [[ 9.80038885e-01 1.98244545e-01 1.49293269e-02 1.41934435e+02] [-1.98218422e-01 9.80152570e-01 -3.22443990e-03 -2.40152369e+01] [-1.52722457e-02 2.00808862e-04 9.99883352e-01 -3.01170460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:141.96, Y:-24.02, Z:-3.01 [[ 9.79934193e-01 1.98770893e-01 1.48023383e-02 1.41964706e+02] [-1.98745272e-01 9.80045966e-01 -3.19705792e-03 -2.40224167e+01] [-1.51424540e-02 1.91011614e-04 9.99885328e-01 -3.01249764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.99, Y:-24.03, Z:-3.01 [[ 9.79848978e-01 1.99200446e-01 1.46684014e-02 1.41993238e+02] [-1.99175289e-01 9.79958748e-01 -3.17120590e-03 -2.40294823e+01] [-1.50061339e-02 1.85719773e-04 9.99887384e-01 -3.01249075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:142.02, Y:-24.04, Z:-3.01 [[ 9.79771497e-01 1.99599196e-01 1.44213062e-02 1.42022751e+02] [-1.99574926e-01 9.79877610e-01 -3.11757137e-03 -2.40361407e+01] [-1.47533798e-02 1.76376448e-04 9.99891147e-01 -3.01297571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:142.05, Y:-24.04, Z:-3.01 [[ 9.79534944e-01 2.00753865e-01 1.44630268e-02 1.42053509e+02] [-2.00729581e-01 9.79641700e-01 -3.12648251e-03 -2.40434265e+01] [-1.47962376e-02 1.59341552e-04 9.99890517e-01 -3.01333237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:142.08, Y:-24.05, Z:-3.01 [[ 9.79400768e-01 2.01393759e-01 1.46523241e-02 1.42083471e+02] [-2.01368900e-01 9.79510353e-01 -3.16782097e-03 -2.40507175e+01] [-1.49900825e-02 1.52043905e-04 9.99887631e-01 -3.01390814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:142.11, Y:-24.06, Z:-3.01 [[ 9.79304485e-01 2.01855831e-01 1.47291854e-02 1.42113958e+02] [-2.01830762e-01 9.79415235e-01 -3.18456769e-03 -2.40580113e+01] [-1.50688121e-02 1.45858717e-04 9.99886448e-01 -3.01438308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.718623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:142.14, Y:-24.07, Z:-3.01 [[ 9.79208414e-01 2.02316493e-01 1.47959018e-02 1.42143874e+02] [-2.02291242e-01 9.79320181e-01 -3.19940859e-03 -2.40652249e+01] [-1.51372183e-02 1.39806461e-04 9.99885416e-01 -3.01485566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.17, Y:-24.07, Z:-3.02 [[ 9.79148625e-01 2.02614043e-01 1.46805916e-02 1.42171907e+02] [-2.02589212e-01 9.79258664e-01 -3.17484362e-03 -2.40720032e+01] [-1.50193644e-02 1.34514280e-04 9.99887194e-01 -3.01503935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.778623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.20, Y:-24.08, Z:-3.02 [[ 9.78868569e-01 2.03973916e-01 1.45246691e-02 1.42203244e+02] [-2.03949781e-01 9.78976317e-01 -3.13971084e-03 -2.40813299e+01] [-1.48597262e-02 1.11061172e-04 9.99889582e-01 -3.01649476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.23, Y:-24.09, Z:-3.02 [[ 9.78701574e-01 2.04795557e-01 1.42130033e-02 1.42234349e+02] [-2.04772497e-01 9.78804766e-01 -3.07483402e-03 -2.40893321e+01] [-1.45414677e-02 9.89127258e-05 9.99894262e-01 -3.01673119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.838623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.27, Y:-24.10, Z:-3.02 [[ 9.78536516e-01 2.05581424e-01 1.42325287e-02 1.42265243e+02] [-2.05558347e-01 9.78640010e-01 -3.08155855e-03 -2.40969264e+01] [-1.45620332e-02 8.98024981e-05 9.99893964e-01 -3.01711683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:142.30, Y:-24.10, Z:-3.02 [[ 9.78408101e-01 2.06193538e-01 1.42060740e-02 1.42296562e+02] [-2.06170571e-01 9.78511225e-01 -3.07861283e-03 -2.41042047e+01] [-1.45355930e-02 8.32653416e-05 9.99894349e-01 -3.01733923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.898623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:142.33, Y:-24.11, Z:-3.02 [[ 9.78238788e-01 2.06964016e-01 1.46550076e-02 1.42327100e+02] [-2.06939620e-01 9.78348553e-01 -3.17855933e-03 -2.41133999e+01] [-1.49955529e-02 7.66883090e-05 9.99887557e-01 -3.01743015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.36, Y:-24.12, Z:-3.02 [[ 9.78244943e-01 2.06931030e-01 1.47098796e-02 1.42357861e+02] [-2.06906395e-01 9.78355530e-01 -3.19395074e-03 -2.41212414e+01] [-1.50524196e-02 8.08979946e-05 9.99886703e-01 -3.01768133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.958623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.39, Y:-24.13, Z:-3.02 [[ 9.78243214e-01 2.06929335e-01 1.48480541e-02 1.42388418e+02] [-2.06904230e-01 9.78355888e-01 -3.22432293e-03 -2.41288266e+01] [-1.51938881e-02 8.20468327e-05 9.99884563e-01 -3.01843424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:142.42, Y:-24.14, Z:-3.02 [[ 9.78343698e-01 2.06417219e-01 1.53473473e-02 1.42418042e+02] [-2.06390335e-01 9.78464063e-01 -3.33266798e-03 -2.41373995e+01] [-1.57047478e-02 9.29505699e-05 9.99876669e-01 -3.01876118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.018623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:142.45, Y:-24.15, Z:-3.02 [[ 9.78401418e-01 2.06133289e-01 1.54833118e-02 1.42447855e+02] [-2.06105851e-01 9.78523918e-01 -3.36469451e-03 -2.41456905e+01] [-1.58443665e-02 1.00820729e-04 9.99874465e-01 -3.01940040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.048623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:142.48, Y:-24.15, Z:-3.02 [[ 9.78482405e-01 2.05768559e-01 1.52146047e-02 1.42479706e+02] [-2.05741987e-01 9.78600679e-01 -3.30850575e-03 -2.41545990e+01] [-1.55698089e-02 1.07031667e-04 9.99878777e-01 -3.01976586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.078623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:142.51, Y:-24.16, Z:-3.02 [[ 9.78549176e-01 2.05451073e-01 1.52107647e-02 1.42511655e+02] [-2.05424429e-01 9.78667381e-01 -3.31068224e-03 -2.41632998e+01] [-1.55664625e-02 1.15002729e-04 9.99878829e-01 -3.02091711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.108623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:142.54, Y:-24.17, Z:-3.02 [[ 9.78731280e-01 2.04618086e-01 1.47146521e-02 1.42543486e+02] [-2.04593016e-01 9.78841878e-01 -3.20548343e-03 -2.41736440e+01] [-1.50592176e-02 1.26791858e-04 9.99886596e-01 -3.02185808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.57, Y:-24.18, Z:-3.02 [[ 9.78813759e-01 2.04252004e-01 1.43088750e-02 1.42573833e+02] [-2.04228213e-01 9.78918332e-01 -3.12013140e-03 -2.41824761e+01] [-1.46445132e-02 1.31751564e-04 9.99892755e-01 -3.02234209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.61, Y:-24.19, Z:-3.02 [[ 9.78872749e-01 2.04006859e-01 1.37602029e-02 1.42605833e+02] [-2.03984817e-01 9.78969450e-01 -3.00170101e-03 -2.41913463e+01] [-1.40831858e-02 1.31410864e-04 9.99900818e-01 -3.02260526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:142.64, Y:-24.20, Z:-3.02 [[ 9.78961034e-01 2.03591986e-01 1.36234013e-02 1.42637268e+02] [-2.03570303e-01 9.79055812e-01 -2.97451237e-03 -2.42000277e+01] [-1.39436571e-02 1.38611779e-04 9.99902773e-01 -3.02402414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.67, Y:-24.21, Z:-3.02 [[ 9.79124189e-01 2.02837988e-01 1.31367072e-02 1.42668061e+02] [-2.02817724e-01 9.79212300e-01 -2.87078877e-03 -2.42096141e+01] [-1.34459303e-02 1.46501669e-04 9.99909589e-01 -3.02491710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.70, Y:-24.22, Z:-3.03 [[ 9.79172028e-01 2.02624170e-01 1.28679907e-02 1.42699762e+02] [-2.02604680e-01 9.79256567e-01 -2.81430644e-03 -2.42183973e+01] [-1.31713110e-02 1.48575003e-04 9.99913243e-01 -3.02539326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.73, Y:-24.23, Z:-3.03 [[ 9.79204998e-01 2.02460320e-01 1.29379197e-02 1.42730422e+02] [-2.02440568e-01 9.79290455e-01 -2.83222991e-03 -2.42271689e+01] [-1.32433954e-02 1.54173879e-04 9.99912291e-01 -3.02624962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:142.76, Y:-24.24, Z:-3.03 [[ 9.79253890e-01 2.02215617e-01 1.30637766e-02 1.42761762e+02] [-2.02195426e-01 9.79341012e-01 -2.86213451e-03 -2.42363440e+01] [-1.33726605e-02 1.61320488e-04 9.99910569e-01 -3.02631210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:142.79, Y:-24.25, Z:-3.03 [[ 9.79344658e-01 2.01742370e-01 1.35667609e-02 1.42793313e+02] [-2.01720510e-01 9.79438607e-01 -2.97508808e-03 -2.42472221e+01] [-1.38880107e-02 1.76942696e-04 9.99903541e-01 -3.02652590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.83, Y:-24.26, Z:-3.03 [[ 9.79420484e-01 2.01375068e-01 1.35497867e-02 1.42825370e+02] [-2.01353192e-01 9.79514190e-01 -2.97393512e-03 -2.42562561e+01] [-1.38710847e-02 1.84440190e-04 9.99903775e-01 -3.02704928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.86, Y:-24.27, Z:-3.03 [[ 9.79459991e-01 2.01165963e-01 1.37978548e-02 1.42855785e+02] [-2.01143217e-01 9.79557154e-01 -3.03127304e-03 -2.42652670e+01] [-1.41255763e-02 1.93665776e-04 9.99900210e-01 -3.02779144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:142.89, Y:-24.27, Z:-3.03 [[ 9.79519757e-01 2.00879625e-01 1.37267038e-02 1.42887539e+02] [-2.00857050e-01 9.79615913e-01 -3.01812818e-03 -2.42742902e+01] [-1.40531779e-02 1.99210954e-04 9.99901229e-01 -3.02817538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:142.92, Y:-24.28, Z:-3.03 [[ 9.79552830e-01 2.00709875e-01 1.38491480e-02 1.42919788e+02] [-2.00686839e-01 9.79650705e-01 -3.04782709e-03 -2.42834516e+01] [-1.41790566e-02 2.06165926e-04 9.99899451e-01 -3.02843638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.498623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:142.95, Y:-24.29, Z:-3.03 [[ 9.79678900e-01 2.00083338e-01 1.39968055e-02 1.42950083e+02] [-2.00059702e-01 9.79778857e-01 -3.08321767e-03 -2.42946530e+01] [-1.43306745e-02 2.20366571e-04 9.99897286e-01 -3.02923769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.98, Y:-24.30, Z:-3.03 [[ 9.79687854e-01 2.00017589e-01 1.43063686e-02 1.42981529e+02] [-1.99992850e-01 9.79792280e-01 -3.15407814e-03 -2.43040902e+01] [-1.46481407e-02 2.28840602e-04 9.99892684e-01 -3.02988107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.558623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.01, Y:-24.31, Z:-3.03 [[ 9.79704859e-01 1.99923493e-01 1.44563835e-02 1.43012267e+02] [-1.99898178e-01 9.79811483e-01 -3.19015624e-03 -2.43131816e+01] [-1.48023178e-02 2.35606843e-04 9.99890412e-01 -3.03014455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.04, Y:-24.33, Z:-3.03 [[ 9.79787025e-01 1.99539227e-01 1.41944838e-02 1.43042812e+02] [-1.99514742e-01 9.79889810e-01 -3.13496943e-03 -2.43250374e+01] [-1.45345794e-02 2.39593593e-04 9.99894339e-01 -3.03111088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.07, Y:-24.33, Z:-3.03 [[ 9.79787247e-01 1.99558567e-01 1.39042502e-02 1.43074974e+02] [-1.99535042e-01 9.79885872e-01 -3.07326278e-03 -2.43345961e+01] [-1.42378742e-02 2.36758533e-04 9.99898608e-01 -3.03203337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.11, Y:-24.34, Z:-3.03 [[ 9.79817634e-01 1.99443662e-01 1.34026147e-02 1.43105792e+02] [-1.99421752e-01 9.79909267e-01 -2.96531673e-03 -2.43434639e+01] [-1.37247600e-02 2.32696713e-04 9.99905784e-01 -3.03327103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.678623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:143.14, Y:-24.35, Z:-3.03 [[ 9.79772879e-01 1.99754839e-01 1.19628123e-02 1.43136548e+02] [-1.99737398e-01 9.79845887e-01 -2.64757900e-03 -2.43521935e+01] [-1.22505792e-02 2.04605100e-04 9.99924938e-01 -3.02732302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.17, Y:-24.36, Z:-3.03 [[ 9.79769093e-01 1.99775399e-01 1.19295744e-02 1.43167288e+02] [-1.99758030e-01 9.79841695e-01 -2.64232595e-03 -2.43643358e+01] [-1.22169661e-02 2.05841017e-04 9.99925349e-01 -3.03467842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.738623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.20, Y:-24.37, Z:-3.04 [[ 9.79700679e-01 2.00114498e-01 1.18645254e-02 1.43199354e+02] [-2.00097315e-01 9.79772497e-01 -2.63019647e-03 -2.43739055e+01] [-1.21508761e-02 2.02745592e-04 9.99926155e-01 -3.03545814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.768623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.23, Y:-24.38, Z:-3.04 [[ 9.79598388e-01 2.00639684e-01 1.14330675e-02 1.43230218e+02] [-2.00623738e-01 9.79665086e-01 -2.53673319e-03 -2.43835380e+01] [-1.17095464e-02 1.91235006e-04 9.99931423e-01 -3.03591031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.798623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.26, Y:-24.39, Z:-3.04 [[ 9.79431427e-01 2.01454170e-01 1.14147732e-02 1.43261884e+02] [-2.01438307e-01 9.79497924e-01 -2.53465212e-03 -2.43933560e+01] [-1.16913629e-02 1.83145357e-04 9.99931637e-01 -3.03617399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.828623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:143.29, Y:-24.40, Z:-3.04 [[ 9.79005122e-01 2.03477461e-01 1.20786503e-02 1.43292720e+02] [-2.03459821e-01 9.79079616e-01 -2.68469423e-03 -2.44039234e+01] [-1.23722350e-02 1.70809378e-04 9.99923446e-01 -3.03646118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.32, Y:-24.41, Z:-3.04 [[ 9.78686904e-01 2.04986384e-01 1.23501684e-02 1.43323833e+02] [-2.04968033e-01 9.78764812e-01 -2.74734598e-03 -2.44122886e+01] [-1.26510787e-02 1.57401818e-04 9.99919960e-01 -3.03747161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.36, Y:-24.42, Z:-3.04 [[ 9.78375779e-01 2.06483609e-01 1.20562910e-02 1.43355673e+02] [-2.06466209e-01 9.78450050e-01 -2.68397164e-03 -2.44208883e+01] [-1.23506747e-02 1.36716149e-04 9.99923718e-01 -3.03776290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.918623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.39, Y:-24.43, Z:-3.04 [[ 9.78149988e-01 2.07546631e-01 1.21242569e-02 1.43387642e+02] [-2.07529088e-01 9.78225117e-01 -2.70140193e-03 -2.44298040e+01] [-1.24209195e-02 1.26240292e-04 9.99922849e-01 -3.03859203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:143.42, Y:-24.44, Z:-3.04 [[ 9.77984918e-01 2.08309155e-01 1.23610463e-02 1.43419710e+02] [-2.08290950e-01 9.78063025e-01 -2.75658465e-03 -2.44391455e+01] [-1.26641041e-02 1.21204144e-04 9.99919800e-01 -3.03938702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97862385300002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:143.45, Y:-24.45, Z:-3.04 [[ 9.77992315e-01 2.08304308e-01 1.18468021e-02 1.43450707e+02] [-2.08287562e-01 9.78064058e-01 -2.64393972e-03 -2.44507676e+01] [-1.21376753e-02 1.18211219e-04 9.99926329e-01 -3.03546374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.48, Y:-24.46, Z:-3.04 [[ 9.78010838e-01 2.08196146e-01 1.22133228e-02 1.43481023e+02] [-2.08178306e-01 9.78087087e-01 -2.72840262e-03 -2.44616887e+01] [-1.25137362e-02 1.25858479e-04 9.99921692e-01 -3.04073603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03862385300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:143.51, Y:-24.47, Z:-3.04 [[ 9.78151779e-01 2.07512491e-01 1.25564224e-02 1.43512816e+02] [-2.07493547e-01 9.78232358e-01 -2.80739615e-03 -2.44720875e+01] [-1.28656685e-02 1.40682904e-04 9.99917224e-01 -3.04123734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.54, Y:-24.48, Z:-3.04 [[ 9.78271536e-01 2.06945989e-01 1.25761601e-02 1.43543134e+02] [-2.06926904e-01 9.78352357e-01 -2.81448670e-03 -2.44822306e+01] [-1.28863626e-02 1.50986361e-04 9.99916956e-01 -3.04157925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:-24.49, Z:-3.04 [[ 9.78671831e-01 2.05045281e-01 1.25650610e-02 1.43574257e+02] [-2.05026043e-01 9.78752472e-01 -2.81433549e-03 -2.44948504e+01] [-1.28751508e-02 1.78146119e-04 9.99917096e-01 -3.04313057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.60, Y:-24.51, Z:-3.04 [[ 9.78864832e-01 2.04127808e-01 1.24691168e-02 1.43604446e+02] [-2.04108756e-01 9.78944228e-01 -2.79542402e-03 -2.45051404e+01] [-1.27771937e-02 1.91286354e-04 9.99918350e-01 -3.04410295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:143.64, Y:-24.52, Z:-3.04 [[ 9.79010594e-01 2.03420382e-01 1.25859308e-02 1.43635206e+02] [-2.03400882e-01 9.79091470e-01 -2.82401098e-03 -2.45157813e+01] [-1.28972389e-02 2.04747233e-04 9.99916806e-01 -3.04445506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:143.67, Y:-24.53, Z:-3.04 [[ 9.79106128e-01 2.02950928e-01 1.27322831e-02 1.43666990e+02] [-2.02930901e-01 9.79188886e-01 -2.85921098e-03 -2.45259880e+01] [-1.30475896e-02 2.15697316e-04 9.99914853e-01 -3.04480578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.218623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:143.70, Y:-24.54, Z:-3.05 [[ 9.79038661e-01 2.03255870e-01 1.30518548e-02 1.43698274e+02] [-2.03234816e-01 9.79125632e-01 -2.93366584e-03 -2.45387088e+01] [-1.33756904e-02 2.19580967e-04 9.99910517e-01 -3.04525466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:143.73, Y:-24.55, Z:-3.05 [[ 9.78884957e-01 2.03987846e-01 1.31605614e-02 1.43729710e+02] [-2.03966471e-01 9.78973397e-01 -2.96072902e-03 -2.45489173e+01] [-1.34877922e-02 2.13899846e-04 9.99909013e-01 -3.04556579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.278623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.76, Y:-24.56, Z:-3.05 [[ 9.78692043e-01 2.04888917e-01 1.35061957e-02 1.43760253e+02] [-2.04866451e-01 9.78785210e-01 -3.04131629e-03 -2.45589294e+01] [-1.38427966e-02 2.09545675e-04 9.99904162e-01 -3.04639578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:143.79, Y:-24.57, Z:-3.04 [[ 9.78493041e-01 2.05880900e-01 1.28227521e-02 1.43792377e+02] [-2.05860707e-01 9.78577038e-01 -2.88953130e-03 -2.45687298e+01] [-1.31429501e-02 1.87685448e-04 9.99913610e-01 -3.04144436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.82, Y:-24.58, Z:-3.05 [[ 9.77932602e-01 2.08445682e-01 1.40791978e-02 1.43821883e+02] [-2.08421558e-01 9.78033930e-01 -3.17584100e-03 -2.45816341e+01] [-1.44319235e-02 1.71350127e-04 9.99895840e-01 -3.04648498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.85, Y:-24.59, Z:-3.05 [[ 9.77915804e-01 2.08524518e-01 1.40785471e-02 1.43854513e+02] [-2.08500360e-01 9.78017124e-01 -3.17872231e-03 -2.45891459e+01] [-1.44319017e-02 1.73140639e-04 9.99895840e-01 -3.04713188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:-24.60, Z:-3.05 [[ 9.77612116e-01 2.09927555e-01 1.43168698e-02 1.43884931e+02] [-2.09902712e-01 9.77716931e-01 -3.23334119e-03 -2.45988700e+01] [-1.46766134e-02 1.55803724e-04 9.99892281e-01 -3.04732643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:-24.61, Z:-3.05 [[ 9.77264666e-01 2.11497622e-01 1.49173917e-02 1.43916872e+02] [-2.11470790e-01 9.77378502e-01 -3.37175275e-03 -2.46088853e+01] [-1.52930556e-02 1.40502221e-04 9.99883045e-01 -3.04798464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:143.95, Y:-24.62, Z:-3.05 [[ 9.76961287e-01 2.12873573e-01 1.52146598e-02 1.43947654e+02] [-2.12845777e-01 9.77079744e-01 -3.44217951e-03 -2.46186278e+01] [-1.55986850e-02 1.24500031e-04 9.99878325e-01 -3.04896673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:143.98, Y:-24.63, Z:-3.05 [[ 9.76219813e-01 2.16296201e-01 1.45199803e-02 1.43978293e+02] [-2.16271239e-01 9.76327788e-01 -3.28664428e-03 -2.46298194e+01] [-1.48871489e-02 6.82331273e-05 9.99889178e-01 -3.04984303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.01, Y:-24.64, Z:-3.05 [[ 9.75759848e-01 2.18400369e-01 1.39283341e-02 1.44009719e+02] [-2.18377597e-01 9.75859251e-01 -3.15393761e-03 -2.46389670e+01] [-1.42809148e-02 3.58495451e-05 9.99898022e-01 -3.05059294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:-24.65, Z:-3.05 [[ 9.75302427e-01 2.20456794e-01 1.35638414e-02 1.44041565e+02] [-2.20435363e-01 9.75396741e-01 -3.07385174e-03 -2.46478857e+01] [-1.39077782e-02 7.98475311e-06 9.99903282e-01 -3.05120207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.578623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.07, Y:-24.66, Z:-3.05 [[ 9.74819751e-01 2.22602196e-01 1.32180289e-02 1.44073452e+02] [-2.22582009e-01 9.74909361e-01 -2.99786670e-03 -2.46564645e+01] [-1.35537119e-02 -1.97157720e-05 9.99908144e-01 -3.05209444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.10, Y:-24.67, Z:-3.05 [[ 9.73957778e-01 2.26364789e-01 1.28540993e-02 1.44104752e+02] [-2.26345997e-01 9.74042595e-01 -2.91752170e-03 -2.46656875e+01] [-1.31808644e-02 -6.79309759e-05 9.99913126e-01 -3.05287853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:-24.67, Z:-3.05 [[ 9.73563783e-01 2.28076263e-01 1.24410062e-02 1.44136796e+02] [-2.28058769e-01 9.73643267e-01 -2.82612119e-03 -2.46747504e+01] [-1.27576731e-02 -8.58713223e-05 9.99918614e-01 -3.05361734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.17, Y:-24.68, Z:-3.05 [[ 9.73118883e-01 2.29976416e-01 1.22673645e-02 1.44167826e+02] [-2.29959526e-01 9.73196196e-01 -2.78918804e-03 -2.46840471e+01] [-1.25799999e-02 -1.06785773e-04 9.99920863e-01 -3.05375639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.20, Y:-24.69, Z:-3.05 [[ 9.72824862e-01 2.31221472e-01 1.21827164e-02 1.44198822e+02] [-2.31204879e-01 9.72901134e-01 -2.77265443e-03 -2.46924309e+01] [-1.24936758e-02 -1.19396306e-04 9.99921944e-01 -3.05444234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:144.23, Y:-24.70, Z:-3.06 [[ 9.72209089e-01 2.33788217e-01 1.23513826e-02 1.44230514e+02] [-2.33771355e-01 9.72287533e-01 -2.81210120e-03 -2.47009007e+01] [-1.26665314e-02 -1.53449094e-04 9.99919764e-01 -3.05518675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.26, Y:-24.71, Z:-3.06 [[ 9.71952863e-01 2.34837375e-01 1.26110959e-02 1.44261571e+02] [-2.34819849e-01 9.72034660e-01 -2.87391954e-03 -2.47083312e+01] [-1.29333260e-02 -1.68021298e-04 9.99916347e-01 -3.05600972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.29, Y:-24.72, Z:-3.06 [[ 9.71712466e-01 2.35815372e-01 1.28838322e-02 1.44293848e+02] [-2.35797134e-01 9.71797858e-01 -2.93848824e-03 -2.47160150e+01] [-1.32134212e-02 -1.82605039e-04 9.99912682e-01 -3.05667175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.33, Y:-24.72, Z:-3.06 [[ 9.71537857e-01 2.36526589e-01 1.30140759e-02 1.44325166e+02] [-2.36508008e-01 9.71624998e-01 -2.97084800e-03 -2.47234424e+01] [-1.33474860e-02 -1.91641875e-04 9.99910900e-01 -3.05754552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.36, Y:-24.73, Z:-3.06 [[ 9.71249776e-01 2.37688573e-01 1.33422227e-02 1.44357515e+02] [-2.37669121e-01 9.71341391e-01 -3.04818482e-03 -2.47309876e+01] [-1.36843719e-02 -2.10485511e-04 9.99906342e-01 -3.05792026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.39, Y:-24.74, Z:-3.06 [[ 9.71035734e-01 2.38542098e-01 1.36846678e-02 1.44389201e+02] [-2.38521679e-01 9.71132131e-01 -3.12922437e-03 -2.47388927e+01] [-1.40360724e-02 -2.25501257e-04 9.99901464e-01 -3.05804663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.42, Y:-24.75, Z:-3.06 [[ 9.70883855e-01 2.39159778e-01 1.36799362e-02 1.44420602e+02] [-2.39139396e-01 9.70980199e-01 -3.13087993e-03 -2.47464353e+01] [-1.40317277e-02 -2.31690900e-04 9.99901524e-01 -3.05792309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:-24.75, Z:-3.06 [[ 9.70719466e-01 2.39797378e-01 1.41752018e-02 1.44452972e+02] [-2.39775523e-01 9.70822927e-01 -3.24688254e-03 -2.47537488e+01] [-1.45402048e-02 -2.47054344e-04 9.99894255e-01 -3.05826604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.48, Y:-24.76, Z:-3.06 [[ 9.70597538e-01 2.40285569e-01 1.42571107e-02 1.44484568e+02] [-2.40263471e-01 9.70702210e-01 -3.26851749e-03 -2.47603088e+01] [-1.46247864e-02 -2.53047863e-04 9.99893020e-01 -3.05842601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.998623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.52, Y:-24.77, Z:-3.06 [[ 9.70556205e-01 2.40435700e-01 1.45370800e-02 1.44516598e+02] [-2.40412703e-01 9.70665034e-01 -3.33537597e-03 -2.47660229e+01] [-1.49125787e-02 -2.57728847e-04 9.99888768e-01 -3.05912485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.55, Y:-24.77, Z:-3.06 [[ 9.70600528e-01 2.40248989e-01 1.46641679e-02 1.44548203e+02] [-2.40225522e-01 9.70711264e-01 -3.36748509e-03 -2.47727875e+01] [-1.50437078e-02 -2.54224581e-04 9.99886805e-01 -3.05975214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.58, Y:-24.78, Z:-3.06 [[ 9.70725342e-01 2.39741439e-01 1.47089708e-02 1.44579727e+02] [-2.39717729e-01 9.70836744e-01 -3.38047933e-03 -2.47796501e+01] [-1.50904503e-02 -2.44484120e-04 9.99886103e-01 -3.06073149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:144.61, Y:-24.79, Z:-3.06 [[ 9.71069113e-01 2.38354943e-01 1.45498517e-02 1.44612296e+02] [-2.38331550e-01 9.71178085e-01 -3.34646440e-03 -2.47861554e+01] [-1.49281435e-02 -2.18040491e-04 9.99888545e-01 -3.06031507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.118623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:144.64, Y:-24.79, Z:-3.06 [[ 9.71227417e-01 2.37700566e-01 1.46882645e-02 1.44644431e+02] [-2.37676612e-01 9.71338457e-01 -3.38085089e-03 -2.47932463e+01] [-1.50709063e-02 -2.07481855e-04 9.99886406e-01 -3.06124184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.68, Y:-24.80, Z:-3.06 [[ 9.71383588e-01 2.37060528e-01 1.47048205e-02 1.44676686e+02] [-2.37036410e-01 9.71494862e-01 -3.38713585e-03 -2.47997080e+01] [-1.50886138e-02 -1.95369685e-04 9.99886141e-01 -3.06149564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.71, Y:-24.81, Z:-3.06 [[ 9.71555217e-01 2.36352222e-01 1.47677733e-02 1.44707977e+02] [-2.36327770e-01 9.71667430e-01 -3.40458451e-03 -2.48054597e+01] [-1.51540454e-02 -1.82293072e-04 9.99885154e-01 -3.06213837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.74, Y:-24.81, Z:-3.06 [[ 9.71817487e-01 2.35275008e-01 1.47119682e-02 1.44741123e+02] [-2.35250578e-01 9.71928827e-01 -3.39434434e-03 -2.48106167e+01] [-1.50975904e-02 -1.62315827e-04 9.99886012e-01 -3.06251978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.77, Y:-24.82, Z:-3.06 [[ 9.71954317e-01 2.34716337e-01 1.45960984e-02 1.44772244e+02] [-2.34692184e-01 9.72063896e-01 -3.37043668e-03 -2.48167345e+01] [-1.49794368e-02 -1.49679721e-04 9.99887791e-01 -3.06360069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.268623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.80, Y:-24.82, Z:-3.06 [[ 9.72080380e-01 2.34189526e-01 1.46629259e-02 1.44804829e+02] [-2.34165049e-01 9.72190952e-01 -3.38872417e-03 -2.48231360e+01] [-1.50487676e-02 -1.39432478e-04 9.99886751e-01 -3.06353728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:-24.83, Z:-3.06 [[ 9.72287608e-01 2.33337403e-01 1.45073437e-02 1.44837528e+02] [-2.33313306e-01 9.72395826e-01 -3.35558237e-03 -2.48290506e+01] [-1.48898633e-02 -1.22165151e-04 9.99889132e-01 -3.06390244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:-24.83, Z:-3.06 [[ 9.72751703e-01 2.31406549e-01 1.43224851e-02 1.44869466e+02] [-2.31382811e-01 9.72857133e-01 -3.31563752e-03 -2.48316430e+01] [-1.47009920e-02 -8.86848163e-05 9.99891931e-01 -3.06471896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.90, Y:-24.84, Z:-3.07 [[ 9.73037508e-01 2.30222761e-01 1.39816987e-02 1.44901953e+02] [-2.30199983e-01 9.73137953e-01 -3.23916491e-03 -2.48375303e+01] [-1.43518511e-02 -6.67578395e-05 9.99897005e-01 -3.06574166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:144.93, Y:-24.84, Z:-3.07 [[ 9.73366770e-01 2.28842007e-01 1.37283287e-02 1.44933048e+02] [-2.28819871e-01 9.73463576e-01 -3.18316391e-03 -2.48435802e+01] [-1.40924695e-02 -4.29284186e-05 9.99900695e-01 -3.06624647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:144.96, Y:-24.85, Z:-3.07 [[ 9.73718851e-01 2.27337284e-01 1.37607878e-02 1.44964298e+02] [-2.27314857e-01 9.73816081e-01 -3.19323166e-03 -2.48501494e+01] [-1.41264171e-02 -1.87216593e-05 9.99900217e-01 -3.06676681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:-24.86, Z:-3.07 [[ 9.74429639e-01 2.24263347e-01 1.38863381e-02 1.44996880e+02] [-2.24240161e-01 9.74528579e-01 -3.22489119e-03 -2.48559162e+01] [-1.42558582e-02 2.85548681e-05 9.99898380e-01 -3.06690220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.03, Y:-24.86, Z:-3.07 [[ 9.74757708e-01 2.22807102e-01 1.42970238e-02 1.45029186e+02] [-2.22782326e-01 9.74862550e-01 -3.32308313e-03 -2.48623004e+01] [-1.46780396e-02 5.40766805e-05 9.99892270e-01 -3.06729504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.06, Y:-24.87, Z:-3.07 [[ 9.75047562e-01 2.21509163e-01 1.46949739e-02 1.45061983e+02] [-2.21482798e-01 9.75158287e-01 -3.41846496e-03 -2.48684948e+01] [-1.50871469e-02 7.84820059e-05 9.99886179e-01 -3.06842777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.09, Y:-24.87, Z:-3.07 [[ 9.75262121e-01 2.20564641e-01 1.46640581e-02 1.45093411e+02] [-2.20538236e-01 9.75372355e-01 -3.41416595e-03 -2.48739988e+01] [-1.50559611e-02 9.57212316e-05 9.99886648e-01 -3.06867701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.13, Y:-24.88, Z:-3.07 [[ 9.75446280e-01 2.19759402e-01 1.45037954e-02 1.45125590e+02] [-2.19733444e-01 9.75554096e-01 -3.37940328e-03 -2.48800365e+01] [-1.48918926e-02 1.09457448e-04 9.99889104e-01 -3.06954985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.16, Y:-24.89, Z:-3.07 [[ 9.75890970e-01 2.17790672e-01 1.42841826e-02 1.45158134e+02] [-2.17765245e-01 9.75995494e-01 -3.33085649e-03 -2.48853779e+01] [-1.46667273e-02 1.39954249e-04 9.99892428e-01 -3.07039209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:-24.89, Z:-3.07 [[ 9.76088190e-01 2.16929078e-01 1.39147259e-02 1.45189548e+02] [-2.16904818e-01 9.76187355e-01 -3.24774991e-03 -2.48924511e+01] [-1.42879109e-02 1.51919245e-04 9.99897911e-01 -3.07089613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.22, Y:-24.90, Z:-3.07 [[ 9.76257813e-01 2.16188223e-01 1.35400951e-02 1.45222206e+02] [-2.16165164e-01 9.76351692e-01 -3.16153255e-03 -2.48995831e+01] [-1.39033808e-02 1.59573989e-04 9.99903331e-01 -3.07152087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68862385300002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:145.25, Y:-24.91, Z:-3.06 [[ 9.76443879e-01 2.15420130e-01 1.23092985e-02 1.45254659e+02] [-2.15400985e-01 9.76521450e-01 -2.87622486e-03 -2.49053365e+01] [-1.26398908e-02 1.57037132e-04 9.99920101e-01 -3.06284033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.718623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.29, Y:-24.91, Z:-3.07 [[ 9.76541546e-01 2.14920189e-01 1.32635085e-02 1.45285231e+02] [-2.14897872e-01 9.76631599e-01 -3.10236910e-03 -2.49124498e+01] [-1.36203233e-02 1.79292558e-04 9.99907223e-01 -3.07188487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.32, Y:-24.92, Z:-3.07 [[ 9.76759549e-01 2.13873204e-01 1.41080021e-02 1.45317414e+02] [-2.13847801e-01 9.76861407e-01 -3.30288990e-03 -2.49179794e+01] [-1.44879625e-02 2.09164013e-04 9.99895022e-01 -3.07200791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.778623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.35, Y:-24.92, Z:-3.07 [[ 9.76884201e-01 2.13279435e-01 1.44617134e-02 1.45348859e+02] [-2.13252632e-01 9.76991213e-01 -3.38879327e-03 -2.49244473e+01] [-1.48517268e-02 2.26460164e-04 9.99889681e-01 -3.07227085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.38, Y:-24.93, Z:-3.07 [[ 9.77299113e-01 2.11346938e-01 1.47958068e-02 1.45381502e+02] [-2.11318617e-01 9.77411071e-01 -3.46991903e-03 -2.49311999e+01] [-1.51949421e-02 2.64519372e-04 9.99884515e-01 -3.07310630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.41, Y:-24.94, Z:-3.07 [[ 9.77514335e-01 2.10321165e-01 1.51898509e-02 1.45413847e+02] [-2.10291142e-01 9.77632305e-01 -3.56546477e-03 -2.49389530e+01] [-1.55999816e-02 2.91001827e-04 9.99878271e-01 -3.07384536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.44, Y:-24.95, Z:-3.07 [[ 9.77715327e-01 2.09387727e-01 1.51499124e-02 1.45444376e+02] [-2.09357698e-01 9.77832646e-01 -3.55945782e-03 -2.49470299e+01] [-1.55593857e-02 3.08385682e-04 9.99878898e-01 -3.07399675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:-24.96, Z:-3.07 [[ 9.77908799e-01 2.08485593e-01 1.51042666e-02 1.45475118e+02] [-2.08455611e-01 9.78025385e-01 -3.55043829e-03 -2.49550242e+01] [-1.55125714e-02 3.23435739e-04 9.99879621e-01 -3.07452263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:145.51, Y:-24.96, Z:-3.08 [[ 9.78239303e-01 2.06976531e-01 1.44423740e-02 1.45506875e+02] [-2.06948917e-01 9.78345851e-01 -3.39735477e-03 -2.49628537e+01] [-1.48328094e-02 3.34592305e-04 9.99889932e-01 -3.07520566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:-24.97, Z:-3.08 [[ 9.78280772e-01 2.06815014e-01 1.39384763e-02 1.45537628e+02] [-2.06789239e-01 9.78380009e-01 -3.28148720e-03 -2.49700295e+01] [-1.43157874e-02 3.27888938e-04 9.99897470e-01 -3.07599299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.57, Y:-24.98, Z:-3.08 [[ 9.78227547e-01 2.07110444e-01 1.32714137e-02 1.45569364e+02] [-2.07087075e-01 9.78317519e-01 -3.12660984e-03 -2.49777670e+01] [-1.36312101e-02 3.10197614e-04 9.99907043e-01 -3.07628762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.60, Y:-24.98, Z:-3.08 [[ 9.78118878e-01 2.07643971e-01 1.29399100e-02 1.45600123e+02] [-2.07621767e-01 9.78204423e-01 -3.05110578e-03 -2.49849403e+01] [-1.32914209e-02 2.97737168e-04 9.99911621e-01 -3.07726875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.63, Y:-24.99, Z:-3.08 [[ 9.77946100e-01 2.08463251e-01 1.28256697e-02 1.45631784e+02] [-2.08441477e-01 9.78030159e-01 -3.02647761e-03 -2.49928201e+01] [-1.31748011e-02 2.86330443e-04 9.99913168e-01 -3.07764503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.66, Y:-25.00, Z:-3.08 [[ 9.77713344e-01 2.09532735e-01 1.31396360e-02 1.45663063e+02] [-2.09509941e-01 9.77801592e-01 -3.10333654e-03 -2.50005910e+01] [-1.34982076e-02 2.81289171e-04 9.99908855e-01 -3.07833505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.69, Y:-25.01, Z:-3.08 [[ 9.77358846e-01 2.11186689e-01 1.30333866e-02 1.45694955e+02] [-2.11164378e-01 9.77445710e-01 -3.08058751e-03 -2.50081619e+01] [-1.33900069e-02 2.58652476e-04 9.99910316e-01 -3.07862164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.73, Y:-25.02, Z:-3.08 [[ 9.77218991e-01 2.11827614e-01 1.31189202e-02 1.45727146e+02] [-2.11805033e-01 9.77307013e-01 -3.10329683e-03 -2.50160112e+01] [-1.34785766e-02 2.53947275e-04 9.99909128e-01 -3.07942955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.76, Y:-25.02, Z:-3.08 [[ 9.77092335e-01 2.12408906e-01 1.31539530e-02 1.45759268e+02] [-2.12386222e-01 9.77180840e-01 -3.11416179e-03 -2.50241853e+01] [-1.35152666e-02 2.49105221e-04 9.99908634e-01 -3.07968388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.79, Y:-25.03, Z:-3.08 [[ 9.76962099e-01 2.13011961e-01 1.30752172e-02 1.45791437e+02] [-2.12989568e-01 9.77049562e-01 -3.09805201e-03 -2.50327665e+01] [-1.34350574e-02 2.41794529e-04 9.99909716e-01 -3.08057059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.82, Y:-25.04, Z:-3.08 [[ 9.76829505e-01 2.13639474e-01 1.27394387e-02 1.45823280e+02] [-2.13618239e-01 9.76912546e-01 -3.02084067e-03 -2.50420933e+01] [-1.30906883e-02 2.29469828e-04 9.99914287e-01 -3.08092276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-25.05, Z:-3.08 [[ 9.76735682e-01 2.14053575e-01 1.29797498e-02 1.45853699e+02] [-2.14031532e-01 9.76821895e-01 -3.08054312e-03 -2.50504870e+01] [-1.33383051e-02 2.30800652e-04 9.99911014e-01 -3.08213705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.89, Y:-25.06, Z:-3.08 [[ 9.76658660e-01 2.14408635e-01 1.29150727e-02 1.45885736e+02] [-2.14386811e-01 9.76744023e-01 -3.06747341e-03 -2.50595350e+01] [-1.32724128e-02 2.27053221e-04 9.99911892e-01 -3.08262852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:145.92, Y:-25.07, Z:-3.08 [[ 9.76640469e-01 2.14491524e-01 1.29143277e-02 1.45918280e+02] [-2.14469666e-01 9.76725823e-01 -3.07060618e-03 -2.50674130e+01] [-1.32723764e-02 2.29146709e-04 9.99911892e-01 -3.08327545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.95, Y:-25.08, Z:-3.08 [[ 9.76314461e-01 2.16012801e-01 1.21877958e-02 1.45948799e+02] [-2.15993448e-01 9.76390511e-01 -2.89819326e-03 -2.50760126e+01] [-1.25260950e-02 1.97063948e-04 9.99921526e-01 -3.08321892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:-25.08, Z:-3.08 [[ 9.76023181e-01 2.17340556e-01 1.19093762e-02 1.45980502e+02] [-2.17322150e-01 9.76095821e-01 -2.83410382e-03 -2.50842090e+01] [-1.22406580e-02 1.77979793e-04 9.99925064e-01 -3.08445892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.01, Y:-25.09, Z:-3.08 [[ 9.75660024e-01 2.18987221e-01 1.14940981e-02 1.46011185e+02] [-2.18970163e-01 9.75727715e-01 -2.73755880e-03 -2.50927542e+01] [-1.18146004e-02 1.54062153e-04 9.99930193e-01 -3.08494152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.04, Y:-25.10, Z:-3.09 [[ 9.75271035e-01 2.20725882e-01 1.12469608e-02 1.46042762e+02] [-2.20709643e-01 9.75335874e-01 -2.68064691e-03 -2.51014639e+01] [-1.15612525e-02 1.32044586e-04 9.99933158e-01 -3.08532628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:-25.11, Z:-3.09 [[ 9.74798384e-01 2.22802740e-01 1.12716293e-02 1.46074727e+02] [-2.22786543e-01 9.74863543e-01 -2.68877559e-03 -2.51098621e+01] [-1.15873671e-02 1.09846771e-04 9.99932858e-01 -3.08531647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.498623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.11, Y:-25.12, Z:-3.09 [[ 9.74248706e-01 2.25173492e-01 1.16771972e-02 1.46106382e+02] [-2.25156248e-01 9.74318680e-01 -2.78797190e-03 -2.51176053e+01] [-1.20050887e-02 8.69841022e-05 9.99927933e-01 -3.08564684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.14, Y:-25.13, Z:-3.09 [[ 9.73170360e-01 2.29754169e-01 1.23479195e-02 1.46137483e+02] [-2.29735222e-01 9.73248694e-01 -2.95084776e-03 -2.51251075e+01] [-1.26955661e-02 3.49255573e-05 9.99919407e-01 -3.08607994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:-25.13, Z:-3.09 [[ 9.72656895e-01 2.31906908e-01 1.25598838e-02 1.46169120e+02] [-2.31887453e-01 9.72737984e-01 -3.00381647e-03 -2.51327899e+01] [-1.29140818e-02 9.20333255e-06 9.99916610e-01 -3.08653188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:-25.14, Z:-3.09 [[ 9.72187702e-01 2.33857725e-01 1.27136731e-02 1.46201277e+02] [-2.33837925e-01 9.72270829e-01 -3.04309741e-03 -2.51399855e+01] [-1.30727853e-02 -1.44770652e-05 9.99914547e-01 -3.08631974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.23, Y:-25.15, Z:-3.09 [[ 9.71464278e-01 2.36816807e-01 1.32271337e-02 1.46232268e+02] [-2.36795608e-01 9.71554320e-01 -3.16910273e-03 -2.51458154e+01] [-1.36013757e-02 -5.34570712e-05 9.99907496e-01 -3.08702023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:146.26, Y:-25.15, Z:-3.09 [[ 9.71171477e-01 2.38006890e-01 1.33672584e-02 1.46264382e+02] [-2.37985334e-01 9.71263464e-01 -3.20392027e-03 -2.51531680e+01] [-1.37456848e-02 -6.96554846e-05 9.99905521e-01 -3.08712703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.678623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:146.30, Y:-25.16, Z:-3.09 [[ 9.70889963e-01 2.39155356e-01 1.33190088e-02 1.46296572e+02] [-2.39134029e-01 9.70981312e-01 -3.19490168e-03 -2.51609725e+01] [-1.36965865e-02 -8.31302695e-05 9.99906194e-01 -3.08845838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.33, Y:-25.17, Z:-3.09 [[ 9.70729391e-01 2.39832574e-01 1.28369216e-02 1.46327898e+02] [-2.39812791e-01 9.70814261e-01 -3.08163550e-03 -2.51684474e+01] [-1.32013431e-02 -8.70238433e-05 9.99912855e-01 -3.08927140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:-25.17, Z:-3.09 [[ 9.70558660e-01 2.40560129e-01 1.21124629e-02 1.46358979e+02] [-2.40542548e-01 9.70634234e-01 -2.90969650e-03 -2.51743578e+01] [-1.24567281e-02 -8.95315502e-05 9.99922408e-01 -3.08964884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.39, Y:-25.18, Z:-3.09 [[ 9.70509390e-01 2.40746421e-01 1.23565915e-02 1.46390671e+02] [-2.40728111e-01 9.70588045e-01 -2.97058305e-03 -2.51813847e+01] [-1.27083172e-02 -9.16001850e-05 9.99919242e-01 -3.09069604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.42, Y:-25.19, Z:-3.09 [[ 9.70517355e-01 2.40723351e-01 1.21791511e-02 1.46422444e+02] [-2.40705536e-01 9.70593767e-01 -2.92993347e-03 -2.51890425e+01] [-1.25263116e-02 -8.80378118e-05 9.99921539e-01 -3.09180674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.828623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.45, Y:-25.20, Z:-3.09 [[ 9.70604428e-01 2.40379880e-01 1.20231934e-02 1.46454067e+02] [-2.40362465e-01 9.70678890e-01 -2.89460836e-03 -2.51970340e+01] [-1.23664656e-02 -8.04047113e-05 9.99923529e-01 -3.09209058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:-25.20, Z:-3.09 [[ 9.70804232e-01 2.39541511e-01 1.26098065e-02 1.46485268e+02] [-2.39522250e-01 9.70886121e-01 -3.03841311e-03 -2.52037088e+01] [-1.29705122e-02 -7.06249163e-05 9.99915877e-01 -3.09226391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.52, Y:-25.21, Z:-3.09 [[ 9.70947866e-01 2.38957581e-01 1.26299999e-02 1.46517263e+02] [-2.38938181e-01 9.71030005e-01 -3.04539906e-03 -2.52109603e+01] [-1.29918301e-02 -6.08654960e-05 9.99915601e-01 -3.09232118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:-25.22, Z:-3.09 [[ 9.71104502e-01 2.38316580e-01 1.26985470e-02 1.46549303e+02] [-2.38296886e-01 9.71187523e-01 -3.06415836e-03 -2.52185699e+01] [-1.30629102e-02 -5.04062299e-05 9.99914675e-01 -3.09293252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.58, Y:-25.23, Z:-3.09 [[ 9.71330021e-01 2.37389954e-01 1.28062541e-02 1.46580568e+02] [-2.37369809e-01 9.71414437e-01 -3.09284020e-03 -2.52259144e+01] [-1.31743893e-02 -3.56495587e-05 9.99913213e-01 -3.09357556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:-25.23, Z:-3.09 [[ 9.71583089e-01 2.36338458e-01 1.30550864e-02 1.46611624e+02] [-2.36317388e-01 9.71670795e-01 -3.15580933e-03 -2.52329925e+01] [-1.34310853e-02 -1.90129472e-05 9.99909799e-01 -3.09473769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:-25.24, Z:-3.09 [[ 9.72220742e-01 2.33753082e-01 1.20965310e-02 1.46643189e+02] [-2.33734782e-01 9.72295992e-01 -2.92491248e-03 -2.52410437e+01] [-1.24451159e-02 1.62805375e-05 9.99922556e-01 -3.09486451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:-25.25, Z:-3.10 [[ 9.72531653e-01 2.32461320e-01 1.19966314e-02 1.46674432e+02] [-2.32443187e-01 9.72605641e-01 -2.90366946e-03 -2.52492499e+01] [-1.23429823e-02 3.53752137e-05 9.99923822e-01 -3.09541396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.71, Y:-25.26, Z:-3.10 [[ 9.72729074e-01 2.31626516e-01 1.21369094e-02 1.46706515e+02] [-2.31607879e-01 9.72804788e-01 -2.93869728e-03 -2.52576304e+01] [-1.24875237e-02 4.75524535e-05 9.99922027e-01 -3.09579716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:-25.27, Z:-3.10 [[ 9.72889523e-01 2.30968002e-01 1.18219497e-02 1.46738842e+02] [-2.30950243e-01 9.72961345e-01 -2.86468449e-03 -2.52653249e+01] [-1.21639505e-02 5.67393848e-05 9.99926015e-01 -3.09627793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:-25.27, Z:-3.10 [[ 9.72780446e-01 2.31409893e-01 1.21517320e-02 1.46770698e+02] [-2.31391132e-01 9.72856340e-01 -2.94712534e-03 -2.52730598e+01] [-1.25038834e-02 5.51028865e-05 9.99921822e-01 -3.09721472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.80, Y:-25.28, Z:-3.10 [[ 9.72636202e-01 2.32008660e-01 1.22801069e-02 1.46801667e+02] [-2.31989510e-01 9.72713719e-01 -2.98126187e-03 -2.52804611e+01] [-1.26367071e-02 5.08272292e-05 9.99920152e-01 -3.09766266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.83, Y:-25.29, Z:-3.10 [[ 9.72360791e-01 2.33159067e-01 1.23021053e-02 1.46833362e+02] [-2.33139927e-01 9.72438609e-01 -2.98770207e-03 -2.52878770e+01] [-1.26596520e-02 3.70124143e-05 9.99919863e-01 -3.09810069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:146.86, Y:-25.30, Z:-3.10 [[ 9.72004965e-01 2.34623961e-01 1.25676304e-02 1.46864220e+02] [-2.34604074e-01 9.72086208e-01 -3.05477627e-03 -2.52955767e+01] [-1.29335439e-02 2.08404094e-05 9.99916358e-01 -3.09882407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:-25.30, Z:-3.10 [[ 9.71386812e-01 2.37202099e-01 1.19509552e-02 1.46896013e+02] [-2.37184288e-01 9.71460326e-01 -2.90674343e-03 -2.53044872e+01] [-1.22993644e-02 -1.10065606e-05 9.99924360e-01 -3.09923436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:-25.31, Z:-3.10 [[ 9.71068317e-01 2.38523182e-01 1.15332256e-02 1.46927365e+02] [-2.38506661e-01 9.71136804e-01 -2.80741880e-03 -2.53124136e+01] [-1.18699743e-02 -2.45556692e-05 9.99929549e-01 -3.09971961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:-25.32, Z:-3.10 [[ 9.70758653e-01 2.39790820e-01 1.13137202e-02 1.46959495e+02] [-2.39774985e-01 9.70824578e-01 -2.75595678e-03 -2.53197696e+01] [-1.16444908e-02 -3.73782098e-05 9.99932200e-01 -3.10065625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:-25.33, Z:-3.10 [[ 9.70513001e-01 2.40780791e-01 1.13633099e-02 1.46990595e+02] [-2.40764857e-01 9.70579522e-01 -2.77037594e-03 -2.53264821e+01] [-1.16960492e-02 -4.71998173e-05 9.99931598e-01 -3.10134800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.02, Y:-25.33, Z:-3.10 [[ 9.69967310e-01 2.42947432e-01 1.18306132e-02 1.47022020e+02] [-2.42930294e-01 9.70039453e-01 -2.88663915e-03 -2.53329664e+01] [-1.21774631e-02 -7.40687158e-05 9.99925849e-01 -3.10176254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:-25.34, Z:-3.10 [[ 9.69700560e-01 2.43990407e-01 1.22272426e-02 1.47054552e+02] [-2.43972155e-01 9.69777641e-01 -2.98564843e-03 -2.53404411e+01] [-1.25861760e-02 -8.79217520e-05 9.99920787e-01 -3.10215204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.09, Y:-25.35, Z:-3.10 [[ 9.69410174e-01 2.45127670e-01 1.25035906e-02 1.47086781e+02] [-2.45108647e-01 9.69490802e-01 -3.05552154e-03 -2.53480138e+01] [-1.28711090e-02 -1.02684504e-04 9.99917159e-01 -3.10242470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:-25.36, Z:-3.10 [[ 9.69103131e-01 2.46332331e-01 1.26294708e-02 1.47117888e+02] [-2.46312991e-01 9.69185415e-01 -3.08893286e-03 -2.53553089e+01] [-1.30012029e-02 -1.17308209e-04 9.99915474e-01 -3.10267478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.15, Y:-25.36, Z:-3.10 [[ 9.68869485e-01 2.47255556e-01 1.25144091e-02 1.47149200e+02] [-2.47236614e-01 9.68950295e-01 -3.06312411e-03 -2.53621947e+01] [-1.28832148e-02 -1.26252640e-04 9.99917000e-01 -3.10306156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.18, Y:-25.37, Z:-3.10 [[ 9.68607302e-01 2.48310747e-01 1.19024582e-02 1.47182050e+02] [-2.48293668e-01 9.68680420e-01 -2.91520385e-03 -2.53687495e+01] [-1.22535546e-02 -1.31617260e-04 9.99924914e-01 -3.10395893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:-25.38, Z:-3.10 [[ 9.68527294e-01 2.48622625e-01 1.19025852e-02 1.47213507e+02] [-2.48605540e-01 9.68600419e-01 -2.91767691e-03 -2.53758786e+01] [-1.22542495e-02 -1.33198913e-04 9.99924905e-01 -3.10485660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.578623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.24, Y:-25.38, Z:-3.11 [[ 9.68472652e-01 2.48827119e-01 1.20742447e-02 1.47244643e+02] [-2.48809525e-01 9.68547906e-01 -2.96203581e-03 -2.53826468e+01] [-1.24315193e-02 -1.35536415e-04 9.99922716e-01 -3.10559142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.28, Y:-25.39, Z:-3.11 [[ 9.68624350e-01 2.48243062e-01 1.19268870e-02 1.47276552e+02] [-2.48225826e-01 9.68697768e-01 -2.92789257e-03 -2.53896898e+01] [-1.22803778e-02 -1.24533339e-04 9.99924586e-01 -3.10581489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:-25.40, Z:-3.11 [[ 9.68742522e-01 2.47795136e-01 1.16402605e-02 1.47307469e+02] [-2.47778658e-01 9.68812447e-01 -2.85987011e-03 -2.53972521e+01] [-1.19858912e-02 -1.13730352e-04 9.99928160e-01 -3.10631949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-25.40, Z:-3.11 [[ 9.68912772e-01 2.47128210e-01 1.16485446e-02 1.47339782e+02] [-2.47111635e-01 9.68982785e-01 -2.86405923e-03 -2.54048257e+01] [-1.19950290e-02 -1.03467326e-04 9.99928052e-01 -3.10666956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.37, Y:-25.41, Z:-3.11 [[ 9.69095583e-01 2.46402630e-01 1.18107880e-02 1.47371470e+02] [-2.46385508e-01 9.69167548e-01 -2.90624318e-03 -2.54122087e+01] [-1.21627384e-02 -9.35795710e-05 9.99926027e-01 -3.10665178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.40, Y:-25.42, Z:-3.11 [[ 9.69445784e-01 2.44995761e-01 1.23267615e-02 1.47402843e+02] [-2.44976962e-01 9.69524147e-01 -3.03591601e-03 -2.54187697e+01] [-1.26948794e-02 -7.66165991e-05 9.99919414e-01 -3.10730153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:-25.43, Z:-3.11 [[ 9.69532034e-01 2.44660648e-01 1.21984961e-02 1.47433620e+02] [-2.44642183e-01 9.69608768e-01 -3.00659680e-03 -2.54261228e+01] [-1.25633647e-02 -6.92748070e-05 9.99921075e-01 -3.10748253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:-25.43, Z:-3.11 [[ 9.69647164e-01 2.44205031e-01 1.21770232e-02 1.47466116e+02] [-2.44186569e-01 9.69723620e-01 -3.00339228e-03 -2.54336380e+01] [-1.25417905e-02 -6.12347127e-05 9.99921347e-01 -3.10801400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:-25.44, Z:-3.11 [[ 9.69760598e-01 2.43767163e-01 1.19144254e-02 1.47498643e+02] [-2.43749429e-01 9.69833783e-01 -2.94080533e-03 -2.54413720e+01] [-1.22718840e-02 -5.22572524e-05 9.99924696e-01 -3.10837696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:-25.45, Z:-3.11 [[ 9.70057710e-01 2.42590536e-01 1.17418795e-02 1.47530927e+02] [-2.42573199e-01 9.70128770e-01 -2.90041465e-03 -2.54487358e+01] [-1.20947483e-02 -3.46956925e-05 9.99926855e-01 -3.10850502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:-25.46, Z:-3.11 [[ 9.70210310e-01 2.41960583e-01 1.21256281e-02 1.47561754e+02] [-2.41942012e-01 9.70286079e-01 -2.99783147e-03 -2.54564540e+01] [-1.24906852e-02 -2.51718510e-05 9.99921988e-01 -3.10907790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.59, Y:-25.46, Z:-3.11 [[ 9.70382196e-01 2.41255497e-01 1.24168634e-02 1.47593790e+02] [-2.41235936e-01 9.70461635e-01 -3.07217234e-03 -2.54645954e+01] [-1.27912681e-02 -1.42123400e-05 9.99918188e-01 -3.10970227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:-25.47, Z:-3.11 [[ 9.70575709e-01 2.40466796e-01 1.25901605e-02 1.47625216e+02] [-2.40446581e-01 9.70657365e-01 -3.11801261e-03 -2.54724707e+01] [-1.29705105e-02 -9.93736801e-07 9.99915879e-01 -3.10975458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:-25.48, Z:-3.11 [[ 9.70819707e-01 2.39470472e-01 1.27667180e-02 1.47657087e+02] [-2.39449576e-01 9.70903648e-01 -3.16351145e-03 -2.54804267e+01] [-1.31528206e-02 1.42140562e-05 9.99913498e-01 -3.11014743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:-25.49, Z:-3.11 [[ 9.71074503e-01 2.38422597e-01 1.29990698e-02 1.47688660e+02] [-2.38400831e-01 9.71161503e-01 -3.22169221e-03 -2.54880232e+01] [-1.33923204e-02 2.95141199e-05 9.99910318e-01 -3.11023789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:-25.50, Z:-3.11 [[ 9.71159391e-01 2.38084517e-01 1.28530356e-02 1.47720704e+02] [-2.38063177e-01 9.71244440e-01 -3.18784980e-03 -2.54962193e+01] [-1.32424171e-02 3.60757822e-05 9.99912315e-01 -3.11109282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:147.75, Y:-25.50, Z:-3.11 [[ 9.71135023e-01 2.38206934e-01 1.24186618e-02 1.47751965e+02] [-2.38186991e-01 9.71214423e-01 -3.08254589e-03 -2.55045704e+01] [-1.27954673e-02 3.56045850e-05 9.99918134e-01 -3.11200730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.78, Y:-25.51, Z:-3.11 [[ 9.71206744e-01 2.37929775e-01 1.21195170e-02 1.47784191e+02] [-2.37910735e-01 9.71282359e-01 -3.01027933e-03 -2.55129089e+01] [-1.24877081e-02 4.02403925e-05 9.99922025e-01 -3.11247201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.118623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:147.82, Y:-25.52, Z:-3.11 [[ 9.71132285e-01 2.38284231e-01 1.10774999e-02 1.47815247e+02] [-2.38268317e-01 9.71195461e-01 -2.75409326e-03 -2.55205717e+01] [-1.14146746e-02 3.51716347e-05 9.99934850e-01 -3.10567713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.85, Y:-25.53, Z:-3.11 [[ 9.71013995e-01 2.38766659e-01 1.10591509e-02 1.47847024e+02] [-2.38750818e-01 9.71076970e-01 -2.75048280e-03 -2.55289607e+01] [-1.13960103e-02 3.03759740e-05 9.99935063e-01 -3.11376790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.178623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.88, Y:-25.54, Z:-3.11 [[ 9.70827554e-01 2.39542466e-01 1.06427166e-02 1.47878222e+02] [-2.39527819e-01 9.70885888e-01 -2.64901190e-03 -2.55367946e+01] [-1.09674142e-02 2.25070407e-05 9.99939856e-01 -3.11446660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.91, Y:-25.55, Z:-3.12 [[ 9.70808192e-01 2.39620954e-01 1.06420602e-02 1.47910681e+02] [-2.39606283e-01 9.70866519e-01 -2.65164583e-03 -2.55450254e+01] [-1.09674098e-02 2.43350115e-05 9.99939856e-01 -3.11511345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.238623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:147.94, Y:-25.55, Z:-3.12 [[ 9.70457155e-01 2.41024108e-01 1.09676638e-02 1.47941546e+02] [-2.41008612e-01 9.70519129e-01 -2.73301544e-03 -2.55519704e+01] [-1.13030501e-02 8.97295148e-06 9.99936118e-01 -3.11560588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.268623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:147.97, Y:-25.56, Z:-3.12 [[ 9.70213447e-01 2.41999224e-01 1.10563093e-02 1.47973357e+02] [-2.41983519e-01 9.70276443e-01 -2.75700793e-03 -2.55595314e+01] [-1.13948702e-02 -5.58458752e-07 9.99935076e-01 -3.11581935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.298623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:148.01, Y:-25.57, Z:-3.12 [[ 9.70105316e-01 2.42415408e-01 1.14213285e-02 1.48005234e+02] [-2.42398649e-01 9.70172546e-01 -2.85045231e-03 -2.55668092e+01] [-1.17716529e-02 -3.27565103e-06 9.99930712e-01 -3.11665695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.328623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:148.04, Y:-25.57, Z:-3.12 [[ 9.70023767e-01 2.42731726e-01 1.16275956e-02 1.48036338e+02] [-2.42714348e-01 9.70093454e-01 -2.90444062e-03 -2.55747049e+01] [-1.19848542e-02 -4.80784847e-06 9.99928179e-01 -3.11738866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.358623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:148.07, Y:-25.58, Z:-3.12 [[ 9.70205425e-01 2.42005675e-01 1.16054558e-02 1.48068281e+02] [-2.41988287e-01 9.70274834e-01 -2.90100362e-03 -2.55841229e+01] [-1.19625410e-02 6.18508527e-06 9.99928446e-01 -3.11794161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.388623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:148.10, Y:-25.59, Z:-3.12 [[ 9.70292430e-01 2.41676932e-01 1.11740823e-02 1.48099531e+02] [-2.41660765e-01 9.70356770e-01 -2.79536730e-03 -2.55923866e+01] [-1.15184222e-02 1.19864618e-05 9.99933661e-01 -3.11877319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.418623853 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:148.13, Y:-25.60, Z:-3.12 [[ 9.70318533e-01 2.41593689e-01 1.06973614e-02 1.48131717e+02] [-2.41578848e-01 9.70377498e-01 -2.67788122e-03 -2.56004858e+01] [-1.10274380e-02 1.41415207e-05 9.99939196e-01 -3.12009752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44862385300002 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:148.16, Y:-25.61, Z:-3.12 [[ 9.70346926e-01 2.41514566e-01 9.87712210e-03 1.48164131e+02] [-2.41501895e-01 9.70397194e-01 -2.47405327e-03 -2.56085346e+01] [-1.01822515e-02 1.53462813e-05 9.99948159e-01 -3.12113834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:148.19, Y:-25.62, Z:-3.12 [[ 9.70269127e-01 2.41832572e-01 9.73799555e-03 1.48194755e+02] [-2.41820249e-01 9.70317993e-01 -2.44134234e-03 -2.56159709e+01] [-1.00393484e-02 1.39145952e-05 9.99949604e-01 -3.12122736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:148.23, Y:-25.62, Z:-3.12 [[ 9.70167594e-01 2.42231623e-01 9.93381383e-03 1.48225960e+02] [-2.42218793e-01 9.70218450e-01 -2.49313445e-03 -2.56231931e+01] [-1.02418855e-02 1.26018571e-05 9.99947550e-01 -3.12158880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.26, Y:-25.63, Z:-3.12 [[ 9.70040436e-01 2.42727686e-01 1.02382816e-02 1.48257131e+02] [-2.42714076e-01 9.70094465e-01 -2.57037878e-03 -2.56304183e+01] [-1.05560024e-02 8.39629847e-06 9.99944284e-01 -3.12218871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56862385300002 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:148.29, Y:-25.64, Z:-3.12 [[ 9.69916488e-01 2.43214079e-01 1.04363726e-02 1.48289464e+02] [-2.43199947e-01 9.69972635e-01 -2.62187151e-03 -2.56381984e+01] [-1.07606719e-02 4.87115591e-06 9.99942102e-01 -3.12271598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:148.32, Y:-25.65, Z:-3.12 [[ 9.69896325e-01 2.43283450e-01 1.06902491e-02 1.48320373e+02] [-2.43268600e-01 9.69955238e-01 -2.68806260e-03 -2.56461498e+01] [-1.10230243e-02 6.54011039e-06 9.99939245e-01 -3.12270329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:148.35, Y:-25.65, Z:-3.12 [[ 9.69909963e-01 2.43214686e-01 1.10127121e-02 1.48351069e+02] [-2.43198890e-01 9.69972482e-01 -2.77188450e-03 -2.56539646e+01] [-1.13561907e-02 1.01990371e-05 9.99935516e-01 -3.12325679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:148.38, Y:-25.66, Z:-3.12 [[ 9.69889999e-01 2.43290062e-01 1.11056370e-02 1.48382901e+02] [-2.43273994e-01 9.69953579e-01 -2.79614847e-03 -2.56620850e+01] [-1.14522275e-02 1.02437815e-05 9.99934421e-01 -3.12357328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68862385300002 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:148.41, Y:-25.67, Z:-3.12 [[ 9.69877693e-01 2.43327452e-01 1.13583309e-02 1.48413409e+02] [-2.43310618e-01 9.69944200e-01 -2.86221217e-03 -2.56699547e+01] [-1.17134020e-02 1.23932121e-05 9.99931396e-01 -3.12399177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71862385300003 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:148.45, Y:-25.68, Z:-3.12 [[ 9.69810044e-01 2.43585176e-01 1.16077525e-02 1.48445334e+02] [-2.43567588e-01 9.69879509e-01 -2.92720317e-03 -2.56782236e+01] [-1.19711446e-02 1.15587545e-05 9.99928343e-01 -3.12449191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748623853 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:148.48, Y:-25.69, Z:-3.13 [[ 9.69723263e-01 2.43930867e-01 1.15985434e-02 1.48477593e+02] [-2.43913303e-01 9.69792623e-01 -2.92720102e-03 -2.56859987e+01] [-1.19622165e-02 9.53589835e-06 9.99928450e-01 -3.12509918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.778623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:148.51, Y:-25.69, Z:-3.13 [[ 9.69704942e-01 2.44016668e-01 1.13221482e-02 1.48510032e+02] [-2.43999912e-01 9.69771038e-01 -2.85959382e-03 -2.56940148e+01] [-1.16776799e-02 1.03590995e-05 9.99931814e-01 -3.12628003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:148.54, Y:-25.70, Z:-3.13 [[ 9.69583017e-01 2.44507632e-01 1.11710175e-02 1.48541791e+02] [-2.44491327e-01 9.69647368e-01 -2.82364586e-03 -2.57020379e+01] [-1.15223507e-02 6.54217040e-06 9.99933615e-01 -3.12708585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.838623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:148.57, Y:-25.71, Z:-3.13 [[ 9.69485381e-01 2.44905903e-01 1.09175988e-02 1.48573518e+02] [-2.44890331e-01 9.69546852e-01 -2.76170093e-03 -2.57097289e+01] [-1.12614804e-02 3.81428999e-06 9.99936588e-01 -3.12749126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:148.60, Y:-25.72, Z:-3.13 [[ 9.69259418e-01 2.45775055e-01 1.14369556e-02 1.48604309e+02] [-2.45757996e-01 9.69326891e-01 -2.89569029e-03 -2.57167225e+01] [-1.17978370e-02 -4.04820349e-06 9.99930403e-01 -3.12794487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.898623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:148.64, Y:-25.72, Z:-3.13 [[ 9.69170125e-01 2.46108897e-01 1.18186455e-02 1.48636533e+02] [-2.46090677e-01 9.69242184e-01 -2.99462342e-03 -2.57245457e+01] [-1.21921332e-02 -6.15891956e-06 9.99925673e-01 -3.12888997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:148.67, Y:-25.73, Z:-3.13 [[ 9.69143557e-01 2.46226555e-01 1.15433667e-02 1.48667423e+02] [-2.46209149e-01 9.69212301e-01 -2.92763747e-03 -2.57321863e+01] [-1.19088351e-02 -4.78149759e-06 9.99929087e-01 -3.12911187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.958623853 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:148.70, Y:-25.74, Z:-3.13 [[ 9.69181362e-01 2.46094448e-01 1.11807817e-02 1.48699829e+02] [-2.46078102e-01 9.69245853e-01 -2.83639894e-03 -2.57403918e+01] [-1.15349483e-02 -2.36053451e-06 9.99933470e-01 -3.12999184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988623853 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:148.73, Y:-25.75, Z:-3.13 [[ 9.69218444e-01 2.45944101e-01 1.12741784e-02 1.48731708e+02] [-2.45927443e-01 9.69284014e-01 -2.86239926e-03 -2.57485256e+01] [-1.16318711e-02 1.66029358e-06 9.99932347e-01 -3.13082134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.018623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:148.76, Y:-25.76, Z:-3.13 [[ 9.69289078e-01 2.45663022e-01 1.13297483e-02 1.48762599e+02] [-2.45646152e-01 9.69355291e-01 -2.87898115e-03 -2.57565205e+01] [-1.16898106e-02 7.45592035e-06 9.99931672e-01 -3.13146236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.048623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:148.79, Y:-25.77, Z:-3.13 [[ 9.69364984e-01 2.45345467e-01 1.17102112e-02 1.48794944e+02] [-2.45327394e-01 9.69435713e-01 -2.97800456e-03 -2.57650962e+01] [-1.20829369e-02 1.39377503e-05 9.99926999e-01 -3.13227839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.078623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:148.83, Y:-25.77, Z:-3.13 [[ 9.69896391e-01 2.43216658e-01 1.21098221e-02 1.48826490e+02] [-2.43197131e-01 9.69971987e-01 -3.08218379e-03 -2.57737135e+01] [-1.24958266e-02 4.43249443e-05 9.99921923e-01 -3.13264937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.108623853 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:148.86, Y:-25.78, Z:-3.13 [[ 9.70175163e-01 2.42129078e-01 1.15612935e-02 1.48857483e+02] [-2.42111175e-01 9.70244045e-01 -2.94489050e-03 -2.57819407e+01] [-1.19303198e-02 5.79412621e-05 9.99928830e-01 -3.12639199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.138623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:148.89, Y:-25.79, Z:-3.13 [[ 9.70529165e-01 2.40695140e-01 1.17894045e-02 1.48889129e+02] [-2.40676391e-01 9.70600764e-01 -3.00528505e-03 -2.57911994e+01] [-1.21661625e-02 7.92854649e-05 9.99925986e-01 -3.13384832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.168623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:148.92, Y:-25.80, Z:-3.13 [[ 9.70885192e-01 2.39272711e-01 1.14242188e-02 1.48921306e+02] [-2.39254981e-01 9.70952399e-01 -2.91438667e-03 -2.58001183e+01] [-1.17897059e-02 9.62336020e-05 9.99930494e-01 -3.13460960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:148.95, Y:-25.81, Z:-3.14 [[ 9.71163356e-01 2.38145673e-01 1.13302615e-02 1.48952591e+02] [-2.38128130e-01 9.71229441e-01 -2.89267933e-03 -2.58089339e+01] [-1.16931626e-02 1.11210179e-04 9.99931626e-01 -3.13557445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:148.98, Y:-25.82, Z:-3.14 [[ 9.71662164e-01 2.36106935e-01 1.12318498e-02 1.48983409e+02] [-2.36089526e-01 9.71727069e-01 -2.87038515e-03 -2.58176653e+01] [-1.15920104e-02 1.37322545e-04 9.99932801e-01 -3.13687434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:149.02, Y:-25.83, Z:-3.14 [[ 9.71762569e-01 2.35698054e-01 1.11327201e-02 1.49015049e+02] [-2.35680915e-01 9.71826326e-01 -2.84590536e-03 -2.58266478e+01] [-1.14898448e-02 1.41774642e-04 9.99933980e-01 -3.13685744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28862385300002 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:149.05, Y:-25.84, Z:-3.13 [[ 9.71729029e-01 2.35847740e-01 1.08874761e-02 1.49046518e+02] [-2.35831334e-01 9.71790010e-01 -2.78529152e-03 -2.58356408e+01] [-1.12372453e-02 1.38940609e-04 9.99936851e-01 -3.12835117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31862385300002 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:149.08, Y:-25.85, Z:-3.14 [[ 9.71710416e-01 2.35883344e-01 1.17437243e-02 1.49078147e+02] [-2.35864226e-01 9.71781367e-01 -3.00694542e-03 -2.58455503e+01] [-1.21216208e-02 1.51955728e-04 9.99926519e-01 -3.13797630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:149.11, Y:-25.85, Z:-3.14 [[ 9.71574212e-01 2.36434246e-01 1.19330549e-02 1.49108386e+02] [-2.36414512e-01 9.71647480e-01 -3.05839915e-03 -2.58549197e+01] [-1.23178331e-02 1.50314385e-04 9.99924121e-01 -3.13817095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:149.14, Y:-25.86, Z:-3.14 [[ 9.71444389e-01 2.36973562e-01 1.18038016e-02 1.49140088e+02] [-2.36954281e-01 9.71516089e-01 -3.02624075e-03 -2.58637752e+01] [-1.21847222e-02 1.42863273e-04 9.99925753e-01 -3.13839374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:149.17, Y:-25.87, Z:-3.14 [[ 9.71239169e-01 2.37800775e-01 1.20527445e-02 1.49171494e+02] [-2.37780705e-01 9.71313941e-01 -3.09252863e-03 -2.58727749e+01] [-1.24424045e-02 1.37674852e-04 9.99922581e-01 -3.13941659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.20, Y:-25.88, Z:-3.14 [[ 9.71040072e-01 2.38619516e-01 1.19123901e-02 1.49203448e+02] [-2.38599944e-01 9.71113130e-01 -3.05882102e-03 -2.58817771e+01] [-1.22981728e-02 1.27942168e-04 9.99924366e-01 -3.14003330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:149.23, Y:-25.89, Z:-3.14 [[ 9.70622214e-01 2.40321303e-01 1.17553715e-02 1.49234397e+02] [-2.40302339e-01 9.70693391e-01 -3.02087361e-03 -2.58915332e+01] [-1.21368418e-02 1.07283753e-04 9.99926340e-01 -3.14064168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.498623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:149.27, Y:-25.90, Z:-3.14 [[ 9.70381746e-01 2.41284346e-01 1.18798477e-02 1.49266403e+02] [-2.41265025e-01 9.70454458e-01 -3.05504251e-03 -2.59003479e+01] [-1.22659851e-02 9.83657227e-05 9.99924765e-01 -3.14152579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:149.30, Y:-25.91, Z:-3.14 [[ 9.69748317e-01 2.43801177e-01 1.22142050e-02 1.49297867e+02] [-2.43780921e-01 9.69825232e-01 -3.14348931e-03 -2.59091995e+01] [-1.26120306e-02 7.08033121e-05 9.99920463e-01 -3.14225001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.558623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.33, Y:-25.92, Z:-3.14 [[ 9.69401072e-01 2.45171355e-01 1.23518667e-02 1.49329950e+02] [-2.45150719e-01 9.69479759e-01 -3.18137060e-03 -2.59181076e+01] [-1.27548657e-02 5.59550718e-05 9.99918652e-01 -3.14234476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.36, Y:-25.93, Z:-3.14 [[ 9.69029332e-01 2.46616820e-01 1.27396108e-02 1.49361365e+02] [-2.46594959e-01 9.69113070e-01 -3.28384117e-03 -2.59265613e+01] [-1.31559738e-02 4.06146030e-05 9.99913456e-01 -3.14311493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.618623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:149.39, Y:-25.94, Z:-3.14 [[ 9.68625814e-01 2.48184673e-01 1.29768999e-02 1.49393472e+02] [-2.48162097e-01 9.68712737e-01 -3.34758802e-03 -2.59356804e+01] [-1.34017082e-02 2.21854850e-05 9.99910193e-01 -3.14366540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:149.43, Y:-25.94, Z:-3.14 [[ 9.67812236e-01 2.51327367e-01 1.31920385e-02 1.49425153e+02] [-2.51304292e-01 9.67902141e-01 -3.40565955e-03 -2.59444021e+01] [-1.36245377e-02 -1.91769072e-05 9.99907181e-01 -3.14425934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.678623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.46, Y:-25.95, Z:-3.14 [[ 9.67374984e-01 2.53017611e-01 1.29510104e-02 1.49455973e+02] [-2.52995487e-01 9.67461672e-01 -3.34607877e-03 -2.59527621e+01] [-1.33762231e-02 -3.96342915e-05 9.99910534e-01 -3.14482858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:149.49, Y:-25.96, Z:-3.15 [[ 9.66945327e-01 2.54665209e-01 1.27422779e-02 1.49488243e+02] [-2.54643905e-01 9.67029280e-01 -3.29451111e-03 -2.59613734e+01] [-1.31611532e-02 -5.91312916e-05 9.99913387e-01 -3.14538402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.738623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:149.52, Y:-25.97, Z:-3.15 [[ 9.66558573e-01 2.56133867e-01 1.26478496e-02 1.49519806e+02] [-2.56112973e-01 9.66641317e-01 -3.27241970e-03 -2.59693928e+01] [-1.30641115e-02 -7.62930459e-05 9.99914658e-01 -3.14595082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.768623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:149.55, Y:-25.98, Z:-3.15 [[ 9.65981705e-01 2.58289000e-01 1.28894895e-02 1.49551939e+02] [-2.58267458e-01 9.66067690e-01 -3.33743547e-03 -2.59766033e+01] [-1.33141422e-02 -1.05034093e-04 9.99911357e-01 -3.14674882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.798623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:149.58, Y:-25.98, Z:-3.15 [[ 9.65671491e-01 2.59447817e-01 1.28608625e-02 1.49583502e+02] [-2.59426441e-01 9.65757121e-01 -3.33246729e-03 -2.59846552e+01] [-1.32850709e-02 -1.18379125e-04 9.99911743e-01 -3.14727625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.828623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:149.61, Y:-25.99, Z:-3.15 [[ 9.65484751e-01 2.60163426e-01 1.24172018e-02 1.49614773e+02] [-2.60143528e-01 9.65564590e-01 -3.21994681e-03 -2.59924217e+01] [-1.28273227e-02 -1.21445127e-04 9.99917719e-01 -3.14763829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.858623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:149.65, Y:-26.00, Z:-3.15 [[ 9.65234714e-01 2.61100611e-01 1.21827094e-02 1.49646425e+02] [-2.61081505e-01 9.65311584e-01 -3.16125634e-03 -2.60001947e+01] [-1.25855165e-02 -1.29325749e-04 9.99920791e-01 -3.14870574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.888623853 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:149.68, Y:-26.01, Z:-3.14 [[ 9.65094535e-01 2.61639220e-01 1.17242286e-02 1.49678252e+02] [-2.61621538e-01 9.65165738e-01 -3.04448684e-03 -2.60083218e+01] [-1.21123809e-02 -1.29093102e-04 9.99926634e-01 -3.14110454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.918623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:149.71, Y:-26.02, Z:-3.15 [[ 9.65099292e-01 2.61590774e-01 1.23944681e-02 1.49709979e+02] [-2.61570975e-01 9.65178869e-01 -3.22121912e-03 -2.60166557e+01] [-1.28055199e-02 -1.33236795e-04 9.99917997e-01 -3.14968950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:149.74, Y:-26.02, Z:-3.15 [[ 9.65090745e-01 2.61620827e-01 1.24256674e-02 1.49742026e+02] [-2.61600897e-01 9.65170724e-01 -3.23184163e-03 -2.60245329e+01] [-1.28384075e-02 -1.31545305e-04 9.99917576e-01 -3.14999655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97862385300002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:149.77, Y:-26.03, Z:-3.14 [[ 9.65050981e-01 2.61774277e-01 1.22813273e-02 1.49773432e+02] [-2.61754788e-01 9.65129116e-01 -3.19689030e-03 -2.60316135e+01] [-1.26899302e-02 -1.29534104e-04 9.99919471e-01 -3.14279459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:149.81, Y:-26.04, Z:-3.15 [[ 9.64998830e-01 2.61939122e-01 1.28512714e-02 1.49805902e+02] [-2.61917761e-01 9.65084389e-01 -3.34791404e-03 -2.60390588e+01] [-1.32795111e-02 -1.35243099e-04 9.99911814e-01 -3.15138973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:149.84, Y:-26.05, Z:-3.15 [[ 9.64938305e-01 2.62163491e-01 1.28207863e-02 1.49838139e+02] [-2.62142218e-01 9.65023464e-01 -3.34245228e-03 -2.60473187e+01] [-1.32486286e-02 -1.35609121e-04 9.99912224e-01 -3.15183857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:149.87, Y:-26.06, Z:-3.15 [[ 9.64875109e-01 2.62399501e-01 1.27485629e-02 1.49869971e+02] [-2.62378456e-01 9.64959317e-01 -3.32604427e-03 -2.60554465e+01] [-1.31745969e-02 -1.35730906e-04 9.99913202e-01 -3.15205868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.90, Y:-26.06, Z:-3.15 [[ 9.64833080e-01 2.62543003e-01 1.29730304e-02 1.49900726e+02] [-2.62521181e-01 9.64920283e-01 -3.38777728e-03 -2.60630887e+01] [-1.34073774e-02 -1.37055662e-04 9.99910108e-01 -3.15267035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.93, Y:-26.07, Z:-3.15 [[ 9.64811800e-01 2.62621217e-01 1.29725671e-02 1.49933089e+02] [-2.62599378e-01 9.64898999e-01 -3.38955021e-03 -2.60716868e+01] [-1.34073848e-02 -1.36310007e-04 9.99910108e-01 -3.15331698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:149.96, Y:-26.08, Z:-3.15 [[ 9.64798108e-01 2.62666618e-01 1.30712937e-02 1.49964334e+02] [-2.62644441e-01 9.64886640e-01 -3.41594390e-03 -2.60787868e+01] [-1.35095711e-02 -1.37406406e-04 9.99908732e-01 -3.15375466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18862385300002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:150.00, Y:-26.09, Z:-3.15 [[ 9.64810151e-01 2.62620869e-01 1.31016128e-02 1.49995866e+02] [-2.62598551e-01 9.64899094e-01 -3.42630576e-03 -2.60852225e+01] [-1.35415537e-02 -1.34729972e-04 9.99908300e-01 -3.15397744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:150.03, Y:-26.09, Z:-3.15 [[ 9.64721494e-01 2.62943939e-01 1.31500336e-02 1.50027603e+02] [-2.62921455e-01 9.64811104e-01 -3.44126698e-03 -2.60926329e+01] [-1.35921587e-02 -1.37561740e-04 9.99907613e-01 -3.15495098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:150.06, Y:-26.10, Z:-3.16 [[ 9.64633628e-01 2.63279445e-01 1.28800854e-02 1.50060232e+02] [-2.63257873e-01 9.64719604e-01 -3.37307697e-03 -2.60993593e+01] [-1.33137327e-02 -1.37000402e-04 9.99911359e-01 -3.15566741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.278623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:150.09, Y:-26.10, Z:-3.16 [[ 9.64422226e-01 2.64087468e-01 1.21482477e-02 1.50091859e+02] [-2.64068312e-01 9.64498725e-01 -3.18376622e-03 -2.61042968e+01] [-1.25577622e-02 -1.37472356e-04 9.99921139e-01 -3.15671290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:150.12, Y:-26.11, Z:-3.16 [[ 9.64238175e-01 2.64768705e-01 1.19278803e-02 1.50124617e+02] [-2.64750264e-01 9.64311937e-01 -3.12811388e-03 -2.61113193e+01] [-1.23304240e-02 -1.41662633e-04 9.99923967e-01 -3.15697401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.338623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:150.16, Y:-26.12, Z:-3.16 [[ 9.64038551e-01 2.65506309e-01 1.16650184e-02 1.50156117e+02] [-2.65488696e-01 9.64109112e-01 -3.06158871e-03 -2.61177621e+01] [-1.20592216e-02 -1.45440985e-04 9.99927274e-01 -3.15728641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:150.19, Y:-26.12, Z:-3.16 [[ 9.63803673e-01 2.66340632e-01 1.20476960e-02 1.50187560e+02] [-2.66321879e-01 9.63878956e-01 -3.16448838e-03 -2.61237996e+01] [-1.24553525e-02 -1.58619517e-04 9.99922417e-01 -3.15819323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.398623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:150.22, Y:-26.13, Z:-3.16 [[ 9.63597995e-01 2.67080964e-01 1.21104121e-02 1.50221095e+02] [-2.67062047e-01 9.63674079e-01 -3.18308620e-03 -2.61276990e+01] [-1.25206320e-02 -1.67015975e-04 9.99921600e-01 -3.15881847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.25, Y:-26.13, Z:-3.16 [[ 9.63620456e-01 2.66999967e-01 1.21092263e-02 1.50252360e+02] [-2.66981016e-01 9.63696524e-01 -3.18531787e-03 -2.61340610e+01] [-1.25200990e-02 -1.63496068e-04 9.99921607e-01 -3.15962839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.458623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:150.29, Y:-26.14, Z:-3.16 [[ 9.63671594e-01 2.66820646e-01 1.19917477e-02 1.50285045e+02] [-2.66802021e-01 9.63746190e-01 -3.15657266e-03 -2.61407314e+01] [-1.23992399e-02 -1.57523122e-04 9.99923114e-01 -3.15961871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.32, Y:-26.15, Z:-3.16 [[ 9.63826036e-01 2.66248977e-01 1.22822724e-02 1.50316622e+02] [-2.66229358e-01 9.63904279e-01 -3.23570011e-03 -2.61469942e+01] [-1.27004368e-02 -1.51249471e-04 9.99919335e-01 -3.16092800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.518623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:150.35, Y:-26.15, Z:-3.16 [[ 9.64475223e-01 2.63887280e-01 1.22901581e-02 1.50348834e+02] [-2.63867414e-01 9.64553518e-01 -3.24009842e-03 -2.61515309e+01] [-1.27095360e-02 -1.17977587e-04 9.99919224e-01 -3.16194289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.548623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:150.38, Y:-26.16, Z:-3.16 [[ 9.64846187e-01 2.62512215e-01 1.26163769e-02 1.50380852e+02] [-2.62491132e-01 9.64928664e-01 -3.32844994e-03 -2.61585275e+01] [-1.30476624e-02 -1.00244818e-04 9.99914871e-01 -3.16263260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.578623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:150.41, Y:-26.17, Z:-3.16 [[ 9.65308965e-01 2.60787586e-01 1.29783240e-02 1.50413484e+02] [-2.60765084e-01 9.65396203e-01 -3.42661855e-03 -2.61655234e+01] [-1.34228443e-02 -7.65481451e-05 9.99909907e-01 -3.16322111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.608623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.45, Y:-26.17, Z:-3.16 [[ 9.65820777e-01 2.58905929e-01 1.25676838e-02 1.50445218e+02] [-2.58884636e-01 9.65902540e-01 -3.32073981e-03 -2.61723299e+01] [-1.29989169e-02 -4.63407508e-05 9.99915509e-01 -3.16359032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.638623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.48, Y:-26.18, Z:-3.16 [[ 9.66350602e-01 2.56928879e-01 1.24123194e-02 1.50477094e+02] [-2.56907917e-01 9.66430314e-01 -3.28197792e-03 -2.61792650e+01] [-1.28388767e-02 -1.72817891e-05 9.99917578e-01 -3.16468997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.668623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:150.51, Y:-26.19, Z:-3.17 [[ 9.67362419e-01 2.53107698e-01 1.21013557e-02 1.50508731e+02] [-2.53087444e-01 9.67438108e-01 -3.20215939e-03 -2.61850205e+01] [-1.25178038e-02 3.49474820e-05 9.99921649e-01 -3.16536885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.54, Y:-26.19, Z:-3.17 [[ 9.67799318e-01 2.51434728e-01 1.20439735e-02 1.50541337e+02] [-2.51414510e-01 9.67874255e-01 -3.18909394e-03 -2.61924983e+01] [-1.24589008e-02 5.83732611e-05 9.99922383e-01 -3.16664751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:150.57, Y:-26.20, Z:-3.16 [[ 9.68244076e-01 2.49735638e-01 1.16413539e-02 1.50573125e+02] [-2.49716597e-01 9.68314053e-01 -3.08482761e-03 -2.61994949e+01] [-1.20428779e-02 7.98267840e-05 9.99927479e-01 -3.16401214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.60, Y:-26.21, Z:-3.17 [[ 9.68694241e-01 2.47990352e-01 1.15001237e-02 1.50603248e+02] [-2.47971619e-01 9.68762497e-01 -3.04980420e-03 -2.62072063e+01] [-1.18972106e-02 1.02623470e-04 9.99929220e-01 -3.16811290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:150.63, Y:-26.22, Z:-3.17 [[ 9.69733002e-01 2.43908006e-01 1.12600763e-02 1.50634905e+02] [-2.43889752e-01 9.69798362e-01 -2.98778054e-03 -2.62150068e+01] [-1.16487472e-02 1.51132174e-04 9.99932140e-01 -3.16950655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.67, Y:-26.22, Z:-3.17 [[ 9.70207592e-01 2.42013205e-01 1.12622157e-02 1.50667232e+02] [-2.41994797e-01 9.70272940e-01 -2.99003103e-03 -2.62232396e+01] [-1.16510502e-02 1.75553199e-04 9.99932109e-01 -3.16996361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.70, Y:-26.23, Z:-3.17 [[ 9.70685601e-01 2.40079576e-01 1.14569393e-02 1.50699177e+02] [-2.40060364e-01 9.70753190e-01 -3.04405322e-03 -2.62312395e+01] [-1.18526754e-02 2.04461597e-04 9.99929734e-01 -3.17055741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.73, Y:-26.24, Z:-3.17 [[ 9.71581500e-01 2.36394391e-01 1.21276990e-02 1.50729750e+02] [-2.36372540e-01 9.71657152e-01 -3.22511230e-03 -2.62397857e+01] [-1.25463639e-02 2.66804418e-04 9.99921256e-01 -3.17180156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.76, Y:-26.25, Z:-3.17 [[ 9.72010310e-01 2.34619898e-01 1.22253772e-02 1.50760050e+02] [-2.34597523e-01 9.72087145e-01 -3.25352637e-03 -2.62487673e+01] [-1.26474741e-02 2.94417954e-04 9.99919974e-01 -3.17182841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.79, Y:-26.26, Z:-3.17 [[ 9.72387086e-01 2.33035103e-01 1.25696199e-02 1.50790942e+02] [-2.33011286e-01 9.72468269e-01 -3.34760945e-03 -2.62581926e+01] [-1.30036670e-02 3.26308907e-04 9.99915396e-01 -3.17236251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:150.82, Y:-26.27, Z:-3.17 [[ 9.72726241e-01 2.31607014e-01 1.27220802e-02 1.50822115e+02] [-2.31582463e-01 9.72809368e-01 -3.39050038e-03 -2.62673948e+01] [-1.31614225e-02 3.51818014e-04 9.99913323e-01 -3.17301515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.998623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:150.85, Y:-26.28, Z:-3.17 [[ 9.73384702e-01 2.28813026e-01 1.29159065e-02 1.50852124e+02] [-2.28787438e-01 9.73470308e-01 -3.44498318e-03 -2.62771998e+01] [-1.33615085e-02 3.98296775e-04 9.99910652e-01 -3.17439741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.88, Y:-26.29, Z:-3.17 [[ 9.73627993e-01 2.27784084e-01 1.27648843e-02 1.50883395e+02] [-2.27758970e-01 9.73711581e-01 -3.40713069e-03 -2.62873555e+01] [-1.32054058e-02 4.09960914e-04 9.99912721e-01 -3.17467081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.058623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:150.91, Y:-26.30, Z:-3.18 [[ 9.73846376e-01 2.26863022e-01 1.25062148e-02 1.50914323e+02] [-2.26838809e-01 9.73926587e-01 -3.34044246e-03 -2.62977292e+01] [-1.29379580e-02 4.16182911e-04 9.99916215e-01 -3.17579413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:150.94, Y:-26.31, Z:-3.18 [[ 9.73989583e-01 2.26275484e-01 1.19874166e-02 1.50944721e+02] [-2.26253166e-01 9.74063262e-01 -3.20414455e-03 -2.63080612e+01] [-1.24015214e-02 4.08612474e-04 9.99923015e-01 -3.17632588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.118623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.98, Y:-26.32, Z:-3.18 [[ 9.74028231e-01 2.26123489e-01 1.17120541e-02 1.50975180e+02] [-2.26102151e-01 9.74098560e-01 -3.13241409e-03 -2.63199471e+01] [-1.21170075e-02 4.02939137e-04 9.99926505e-01 -3.17727433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.01, Y:-26.33, Z:-3.18 [[ 9.73889089e-01 2.26727350e-01 1.16082028e-02 1.51006152e+02] [-2.26706401e-01 9.73958189e-01 -3.10711150e-03 -2.63297929e+01] [-1.20103713e-02 3.94328117e-04 9.99927795e-01 -3.17776831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.04, Y:-26.34, Z:-3.18 [[ 9.73319724e-01 2.29145676e-01 1.18732642e-02 1.51036201e+02] [-2.29123910e-01 9.73392068e-01 -3.18045504e-03 -2.63402437e+01] [-1.22861287e-02 3.75150892e-04 9.99924452e-01 -3.17833310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:151.07, Y:-26.35, Z:-3.18 [[ 9.72945565e-01 2.30720064e-01 1.20490271e-02 1.51068105e+02] [-2.30697741e-01 9.73020103e-01 -3.22979638e-03 -2.63503299e+01] [-1.24691244e-02 3.62732727e-04 9.99922192e-01 -3.17917938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.238623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:151.10, Y:-26.36, Z:-3.18 [[ 9.72619997e-01 2.32083221e-01 1.21539892e-02 1.51098558e+02] [-2.32060581e-01 9.72695870e-01 -3.26054744e-03 -2.63601596e+01] [-1.25788534e-02 3.50811850e-04 9.99920822e-01 -3.17983670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.268623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:151.13, Y:-26.37, Z:-3.18 [[ 9.72341504e-01 2.33238301e-01 1.23245521e-02 1.51129746e+02] [-2.33215085e-01 9.72419548e-01 -3.30857684e-03 -2.63707590e+01] [-1.27563222e-02 3.42795127e-04 9.99918576e-01 -3.18052075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.298623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.16, Y:-26.38, Z:-3.18 [[ 9.72096529e-01 2.34266272e-01 1.21512414e-02 1.51160134e+02] [-2.34243752e-01 9.72172416e-01 -3.26468763e-03 -2.63811714e+01] [-1.25779079e-02 3.27239144e-04 9.99920841e-01 -3.18096009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.328623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:151.19, Y:-26.39, Z:-3.17 [[ 9.71750077e-01 2.35711842e-01 1.19043983e-02 1.51191240e+02] [-2.35690307e-01 9.71822944e-01 -3.20065451e-03 -2.63932656e+01] [-1.23233996e-02 3.04484976e-04 9.99924018e-01 -3.17420908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.358623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:151.22, Y:-26.40, Z:-3.18 [[ 9.71501282e-01 2.36710008e-01 1.23947996e-02 1.51221248e+02] [-2.36686708e-01 9.71580299e-01 -3.33529371e-03 -2.64046302e+01] [-1.28320405e-02 3.06557790e-04 9.99917619e-01 -3.18244275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.388623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:151.25, Y:-26.42, Z:-3.18 [[ 9.71195468e-01 2.37953729e-01 1.25453170e-02 1.51252536e+02] [-2.37929932e-01 9.71276446e-01 -3.37819059e-03 -2.64157507e+01] [-1.29888240e-02 2.95976968e-04 9.99915598e-01 -3.18274385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.28, Y:-26.43, Z:-3.18 [[ 9.70557007e-01 2.40549249e-01 1.24561248e-02 1.51282090e+02] [-2.40525965e-01 9.70636899e-01 -3.35710813e-03 -2.64291753e+01] [-1.28979241e-02 2.62243391e-04 9.99916784e-01 -3.18319708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.31, Y:-26.44, Z:-3.18 [[ 9.70132527e-01 2.42263816e-01 1.22932618e-02 1.51313231e+02] [-2.42241261e-01 9.70210383e-01 -3.31424313e-03 -2.64398929e+01] [-1.27299714e-02 2.37319824e-04 9.99918942e-01 -3.18377517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.34, Y:-26.45, Z:-3.18 [[ 9.69653092e-01 2.44175069e-01 1.23051646e-02 1.51344703e+02] [-2.44152594e-01 9.69731143e-01 -3.31985190e-03 -2.64504748e+01] [-1.27433264e-02 2.14766812e-04 9.99918777e-01 -3.18470421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.38, Y:-26.46, Z:-3.18 [[ 9.69077636e-01 2.46460454e-01 1.20739863e-02 1.51376252e+02] [-2.46438961e-01 9.69152832e-01 -3.25994186e-03 -2.64606215e+01] [-1.25049848e-02 1.83636107e-04 9.99921793e-01 -3.18493375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.41, Y:-26.47, Z:-3.19 [[ 9.68546196e-01 2.48526495e-01 1.23631519e-02 1.51406764e+02] [-2.48504093e-01 9.68625085e-01 -3.34077138e-03 -2.64704085e+01] [-1.28055293e-02 1.63397543e-04 9.99917992e-01 -3.18541018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.44, Y:-26.48, Z:-3.19 [[ 9.67983710e-01 2.50682675e-01 1.28737431e-02 1.51437110e+02] [-2.50658540e-01 9.68069303e-01 -3.48138830e-03 -2.64805043e+01] [-1.33353992e-02 1.43013517e-04 9.99911069e-01 -3.18588231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.47, Y:-26.49, Z:-3.19 [[ 9.67117219e-01 2.53969822e-01 1.35504072e-02 1.51466892e+02] [-2.53943366e-01 9.67212137e-01 -3.66719382e-03 -2.64926219e+01] [-1.40374749e-02 1.05570261e-04 9.99901464e-01 -3.18639243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.50, Y:-26.50, Z:-3.19 [[ 9.66767420e-01 2.55297833e-01 1.35562605e-02 1.51496992e+02] [-2.55271448e-01 9.66862456e-01 -3.67141521e-03 -2.65029632e+01] [-1.40443437e-02 8.88783559e-05 9.99901369e-01 -3.18668541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.53, Y:-26.51, Z:-3.19 [[ 9.66413262e-01 2.56635384e-01 1.35531124e-02 1.51528719e+02] [-2.56609110e-01 9.66508290e-01 -3.67289960e-03 -2.65134267e+01] [-1.40417915e-02 7.16867557e-05 9.99901407e-01 -3.18721469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.56, Y:-26.52, Z:-3.19 [[ 9.65743886e-01 2.59123973e-01 1.39109203e-02 1.51558883e+02] [-2.59096509e-01 9.65844069e-01 -3.77282874e-03 -2.65246483e+01] [-1.44134102e-02 3.93154039e-05 9.99896121e-01 -3.18814133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:-26.53, Z:-3.19 [[ 9.65351372e-01 2.60580656e-01 1.39445326e-02 1.51590092e+02] [-2.60553174e-01 9.65452081e-01 -3.78449396e-03 -2.65347137e+01] [-1.44489439e-02 2.00742271e-05 9.99895608e-01 -3.18857496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.62, Y:-26.54, Z:-3.19 [[ 9.64946794e-01 2.62079050e-01 1.38656314e-02 1.51621120e+02] [-2.62051993e-01 9.65046409e-01 -3.76586483e-03 -2.65445690e+01] [-1.43679321e-02 3.42857341e-07 9.99896776e-01 -3.18929301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:-26.55, Z:-3.19 [[ 9.64502632e-01 2.63697796e-01 1.40763715e-02 1.51652259e+02] [-2.63670039e-01 9.64605345e-01 -3.82604003e-03 -2.65540547e+01] [-1.45870615e-02 -2.12917350e-05 9.99893603e-01 -3.18985919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.68, Y:-26.56, Z:-3.19 [[ 9.63627033e-01 2.66900098e-01 1.36849649e-02 1.51682251e+02] [-2.66874147e-01 9.63724200e-01 -3.72240055e-03 -2.65639186e+01] [-1.41820410e-02 -6.51575384e-05 9.99899428e-01 -3.19025105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.838623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:151.71, Y:-26.57, Z:-3.19 [[ 9.63147960e-01 2.68641891e-01 1.33245037e-02 1.51713845e+02] [-2.68617422e-01 9.63240119e-01 -3.62676398e-03 -2.65734094e+01] [-1.38089972e-02 -8.60834975e-05 9.99904648e-01 -3.19116864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.75, Y:-26.58, Z:-3.19 [[ 9.62782642e-01 2.69961907e-01 1.30442692e-02 1.51745118e+02] [-2.69938544e-01 9.62870998e-01 -3.55298775e-03 -2.65822410e+01] [-1.35191198e-02 -1.00396095e-04 9.99908607e-01 -3.19226409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.78, Y:-26.59, Z:-3.19 [[ 9.62443829e-01 2.71187240e-01 1.26237008e-02 1.51776117e+02] [-2.71165432e-01 9.62526607e-01 -3.44090110e-03 -2.65907035e+01] [-1.30837763e-02 -1.11437251e-04 9.99914398e-01 -3.19293688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.81, Y:-26.60, Z:-3.19 [[ 9.61962636e-01 2.72899521e-01 1.23991232e-02 1.51807625e+02] [-2.72878597e-01 9.62042532e-01 -3.38183620e-03 -2.65993366e+01] [-1.28513854e-02 -1.30255296e-04 9.99917409e-01 -3.19385665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.84, Y:-26.61, Z:-3.19 [[ 9.61803608e-01 2.73453017e-01 1.25406133e-02 1.51838761e+02] [-2.73431620e-01 9.61885351e-01 -3.42347404e-03 -2.66079276e+01] [-1.29987915e-02 -1.36290524e-04 9.99915503e-01 -3.19456175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.87, Y:-26.62, Z:-3.20 [[ 9.61662844e-01 2.73944551e-01 1.26078769e-02 1.51870266e+02] [-2.73922951e-01 9.61745477e-01 -3.44296664e-03 -2.66166300e+01] [-1.30687505e-02 -1.42613765e-04 9.99914590e-01 -3.19536899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.90, Y:-26.63, Z:-3.20 [[ 9.61640195e-01 2.74024083e-01 1.26070549e-02 1.51902530e+02] [-2.74002451e-01 9.61722820e-01 -3.44597347e-03 -2.66255881e+01] [-1.30687721e-02 -1.40577352e-04 9.99914590e-01 -3.19601591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.93, Y:-26.63, Z:-3.20 [[ 9.61528586e-01 2.74413503e-01 1.26494191e-02 1.51932961e+02] [-2.74391752e-01 9.61611776e-01 -3.45808515e-03 -2.66343258e+01] [-1.31127756e-02 -1.45848533e-04 9.99914013e-01 -3.19655557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.078623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:151.96, Y:-26.64, Z:-3.20 [[ 9.61452714e-01 2.74684613e-01 1.25316500e-02 1.51964174e+02] [-2.74663257e-01 9.61534369e-01 -3.42826819e-03 -2.66426074e+01] [-1.29913047e-02 -1.45866053e-04 9.99915599e-01 -3.19718417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.00, Y:-26.65, Z:-3.20 [[ 9.61545828e-01 2.74357320e-01 1.25571172e-02 1.51996077e+02] [-2.74335821e-01 9.61627808e-01 -3.43741864e-03 -2.66518319e+01] [-1.30183541e-02 -1.39631507e-04 9.99915248e-01 -3.19819383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.138623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.03, Y:-26.66, Z:-3.20 [[ 9.61677172e-01 2.73896532e-01 1.25581407e-02 1.52027727e+02] [-2.73874958e-01 9.61759155e-01 -3.44018934e-03 -2.66611239e+01] [-1.30201627e-02 -1.31008689e-04 9.99915226e-01 -3.19882235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.168623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.06, Y:-26.67, Z:-3.20 [[ 9.61821184e-01 2.73382189e-01 1.27353542e-02 1.52058457e+02] [-2.73359920e-01 9.61905486e-01 -3.49147270e-03 -2.66705388e+01] [-1.32047135e-02 -1.23163007e-04 9.99912806e-01 -3.19957396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:152.09, Y:-26.68, Z:-3.19 [[ 9.61946025e-01 2.72955763e-01 1.24497802e-02 1.52090239e+02] [-2.72934417e-01 9.62026579e-01 -3.41545253e-03 -2.66793073e+01] [-1.29092869e-02 -1.12492529e-04 9.99916665e-01 -3.19228728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.12, Y:-26.69, Z:-3.20 [[ 9.62284035e-01 2.71702342e-01 1.36848214e-02 1.52121964e+02] [-2.71676380e-01 9.62381331e-01 -3.75732120e-03 -2.66874671e+01] [-1.41908896e-02 -1.02232523e-04 9.99899299e-01 -3.19962535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.15, Y:-26.70, Z:-3.20 [[ 9.62363680e-01 2.71401908e-01 1.40410960e-02 1.52153797e+02] [-2.71374504e-01 9.62466100e-01 -3.85795485e-03 -2.66954036e+01] [-1.45611352e-02 -9.76398347e-05 9.99893976e-01 -3.20064753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:-26.70, Z:-3.20 [[ 9.62338350e-01 2.71479016e-01 1.42843829e-02 1.52185163e+02] [-2.71450616e-01 9.62444354e-01 -3.92790272e-03 -2.67032834e+01] [-1.48142669e-02 -9.75331286e-05 9.99890258e-01 -3.20137074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.22, Y:-26.71, Z:-3.20 [[ 9.62207961e-01 2.71950035e-01 1.41073811e-02 1.52217555e+02] [-2.71922347e-01 9.62311368e-01 -3.88187935e-03 -2.67114746e+01] [-1.46313704e-02 -1.00936975e-04 9.99892951e-01 -3.20197786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:-26.72, Z:-3.20 [[ 9.61901811e-01 2.73040543e-01 1.39200327e-02 1.52248782e+02] [-2.73013658e-01 9.62002520e-01 -3.83320199e-03 -2.67184868e+01] [-1.44377261e-02 -1.13195115e-04 9.99895764e-01 -3.20294531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.28, Y:-26.73, Z:-3.20 [[ 9.61778042e-01 2.73485291e-01 1.37402093e-02 1.52280594e+02] [-2.73459105e-01 9.61876178e-01 -3.78622340e-03 -2.67262710e+01] [-1.42518564e-02 -1.15878798e-04 9.99898430e-01 -3.20325954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.31, Y:-26.73, Z:-3.20 [[ 9.61551918e-01 2.74286343e-01 1.35981767e-02 1.52312359e+02] [-2.74260738e-01 9.61648058e-01 -3.74978035e-03 -2.67338451e+01] [-1.41051737e-02 -1.23837486e-04 9.99900509e-01 -3.20441686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.34, Y:-26.74, Z:-3.21 [[ 9.61393398e-01 2.74840313e-01 1.36211544e-02 1.52343573e+02] [-2.74814632e-01 9.61489878e-01 -3.75925868e-03 -2.67408145e+01] [-1.41297979e-02 -1.29166064e-04 9.99900161e-01 -3.20511175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.38, Y:-26.75, Z:-3.21 [[ 9.61212831e-01 2.75478367e-01 1.34745195e-02 1.52375486e+02] [-2.75453281e-01 9.61307261e-01 -3.72007292e-03 -2.67477632e+01] [-1.39779531e-02 -1.35818797e-04 9.99902294e-01 -3.20544879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.41, Y:-26.75, Z:-3.21 [[ 9.60965954e-01 2.76365210e-01 1.29114591e-02 1.52408666e+02] [-2.76342224e-01 9.61052679e-01 -3.56707658e-03 -2.67532746e+01] [-1.33944082e-02 -1.40142164e-04 9.99910281e-01 -3.20639091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.44, Y:-26.76, Z:-3.21 [[ 9.60998936e-01 2.76264196e-01 1.26150012e-02 1.52439588e+02] [-2.76242207e-01 9.61081722e-01 -3.48807078e-03 -2.67603160e+01] [-1.30876761e-02 -1.32763460e-04 9.99914344e-01 -3.20742775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.558623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.47, Y:-26.77, Z:-3.21 [[ 9.61074838e-01 2.76005388e-01 1.24972872e-02 1.52471279e+02] [-2.75983771e-01 9.61156080e-01 -3.45660997e-03 -2.67678440e+01] [-1.29658866e-02 -1.26987604e-04 9.99915931e-01 -3.20843229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:-26.78, Z:-3.21 [[ 9.61247521e-01 2.75412356e-01 1.22978414e-02 1.52503830e+02] [-2.75391345e-01 9.61326178e-01 -3.40380505e-03 -2.67756707e+01] [-1.27596869e-02 -1.14819936e-04 9.99918585e-01 -3.20921671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.54, Y:-26.78, Z:-3.21 [[ 9.61938783e-01 2.72964533e-01 1.28117497e-02 1.52535104e+02] [-2.72941470e-01 9.62024094e-01 -3.54929658e-03 -2.67822174e+01] [-1.32940440e-02 -8.26517571e-05 9.99911627e-01 -3.20957632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.57, Y:-26.79, Z:-3.21 [[ 9.62304260e-01 2.71658363e-01 1.31241836e-02 1.52567395e+02] [-2.71634021e-01 9.62393750e-01 -3.63718298e-03 -2.67899921e+01] [-1.36187035e-02 -6.48980854e-05 9.99907259e-01 -3.21014125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.60, Y:-26.80, Z:-3.21 [[ 9.62722608e-01 2.70174506e-01 1.30734778e-02 1.52598586e+02] [-2.70150177e-01 9.62811370e-01 -3.62586933e-03 -2.67974922e+01] [-1.35669105e-02 -4.10959641e-05 9.99907964e-01 -3.21081758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.63, Y:-26.80, Z:-3.21 [[ 9.63624810e-01 2.66946284e-01 1.29192544e-02 1.52630727e+02] [-2.66922204e-01 9.63711410e-01 -3.58547620e-03 -2.68039549e+01] [-1.34075624e-02 6.61796076e-06 9.99910115e-01 -3.21169996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.738623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.66, Y:-26.81, Z:-3.21 [[ 9.64077078e-01 2.65296770e-01 1.31534086e-02 1.52661970e+02] [-2.65271618e-01 9.64166802e-01 -3.65319483e-03 -2.68121664e+01] [-1.36512607e-02 3.27354114e-05 9.99906817e-01 -3.21280552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.69, Y:-26.82, Z:-3.21 [[ 9.64615470e-01 2.63322799e-01 1.33453421e-02 1.52693757e+02] [-2.63296685e-01 9.64707779e-01 -3.70893945e-03 -2.68208370e+01] [-1.38510037e-02 6.39160276e-05 9.99904068e-01 -3.21345656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.72, Y:-26.83, Z:-3.21 [[ 9.65141467e-01 2.61401703e-01 1.30804863e-02 1.52724464e+02] [-2.61376403e-01 9.65230098e-01 -3.63795758e-03 -2.68297819e+01] [-1.35766474e-02 9.22132529e-05 9.99907829e-01 -3.21388938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.76, Y:-26.84, Z:-3.21 [[ 9.66254839e-01 2.57252757e-01 1.31379000e-02 1.52755687e+02] [-2.57226818e-01 9.66344139e-01 -3.65629022e-03 -2.68397062e+01] [-1.36363234e-02 1.53487902e-04 9.99907009e-01 -3.21439945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.858623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.79, Y:-26.85, Z:-3.21 [[ 9.66757405e-01 2.55363841e-01 1.30164589e-02 1.52786580e+02] [-2.55338172e-01 9.66845011e-01 -3.62524755e-03 -2.68489689e+01] [-1.35106555e-02 1.81136091e-04 9.99908711e-01 -3.21452135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.888623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.82, Y:-26.86, Z:-3.22 [[ 9.67211483e-01 2.53646969e-01 1.28515669e-02 1.52817276e+02] [-2.53621761e-01 9.67296838e-01 -3.58179459e-03 -2.68584338e+01] [-1.33397914e-02 2.04915820e-04 9.99911000e-01 -3.21535582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.85, Y:-26.87, Z:-3.22 [[ 9.67615199e-01 2.52102267e-01 1.28558798e-02 1.52847897e+02] [-2.52076872e-01 9.67700571e-01 -3.58549121e-03 -2.68678884e+01] [-1.33445527e-02 2.28705825e-04 9.99910931e-01 -3.21627201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.88, Y:-26.88, Z:-3.22 [[ 9.68333508e-01 2.49327881e-01 1.28773463e-02 1.52879209e+02] [-2.49302124e-01 9.68419091e-01 -3.59388223e-03 -2.68794905e+01] [-1.33667230e-02 2.69726805e-04 9.99910625e-01 -3.21712211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.91, Y:-26.89, Z:-3.22 [[ 9.68551208e-01 2.48481727e-01 1.28603322e-02 1.52909889e+02] [-2.48455927e-01 9.68636542e-01 -3.59187742e-03 -2.68896920e+01] [-1.33495036e-02 2.83691467e-04 9.99910851e-01 -3.21785562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.94, Y:-26.90, Z:-3.22 [[ 9.68719248e-01 2.47806124e-01 1.32341613e-02 1.52940589e+02] [-2.47778702e-01 9.68809596e-01 -3.69897064e-03 -2.68995587e+01] [-1.37380100e-02 3.04120750e-04 9.99905583e-01 -3.21872744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.97, Y:-26.91, Z:-3.22 [[ 9.68780699e-01 2.47567451e-01 1.32028074e-02 1.52970828e+02] [-2.47540102e-01 9.68870611e-01 -3.69273987e-03 -2.69096136e+01] [-1.37060143e-02 3.09230825e-04 9.99906020e-01 -3.21896121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.00, Y:-26.92, Z:-3.22 [[ 9.68772100e-01 2.47594494e-01 1.33261241e-02 1.53002399e+02] [-2.47566600e-01 9.68863699e-01 -3.72968280e-03 -2.69201067e+01] [-1.38346468e-02 3.14109392e-04 9.99904247e-01 -3.21958637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.03, Y:-26.93, Z:-3.22 [[ 9.68651470e-01 2.48062283e-01 1.33952535e-02 1.53033200e+02] [-2.48034103e-01 9.68744036e-01 -3.75192568e-03 -2.69303537e+01] [-1.39072832e-02 3.11828623e-04 9.99903240e-01 -3.22006318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:-26.94, Z:-3.22 [[ 9.68194818e-01 2.49863685e-01 1.29202890e-02 1.53064260e+02] [-2.49837597e-01 9.68280983e-01 -3.62122979e-03 -2.69417153e+01] [-1.34152839e-02 2.78081971e-04 9.99909972e-01 -3.22061311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:-26.95, Z:-3.22 [[ 9.67790845e-01 2.51423159e-01 1.29334969e-02 1.53094488e+02] [-2.51397120e-01 9.67877228e-01 -3.62766430e-03 -2.69520167e+01] [-1.34301159e-02 2.59376429e-04 9.99909778e-01 -3.22132004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.13, Y:-26.96, Z:-3.22 [[ 9.66730067e-01 2.55479308e-01 1.27789330e-02 1.53125102e+02] [-2.55454211e-01 9.66814502e-01 -3.58664676e-03 -2.69643865e+01] [-1.32711718e-02 2.02887014e-04 9.99911914e-01 -3.22202446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.16, Y:-26.97, Z:-3.22 [[ 9.66058495e-01 2.58007156e-01 1.27785544e-02 1.53156752e+02] [-2.57982248e-01 9.66142991e-01 -3.58911759e-03 -2.69746977e+01] [-1.32719288e-02 1.70657352e-04 9.99911910e-01 -3.22275637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.19, Y:-26.98, Z:-3.22 [[ 9.65302695e-01 2.60809201e-01 1.30102837e-02 1.53187688e+02] [-2.60783597e-01 9.65390357e-01 -3.65700155e-03 -2.69844564e+01] [-1.35137821e-02 1.37244861e-04 9.99908675e-01 -3.22287264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.22, Y:-26.99, Z:-3.22 [[ 9.64406671e-01 2.64063061e-01 1.38011536e-02 1.53219159e+02] [-2.64034543e-01 9.64505412e-01 -3.88208994e-03 -2.69941522e+01] [-1.43364039e-02 9.99321398e-05 9.99897223e-01 -3.22348593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.25, Y:-27.00, Z:-3.22 [[ 9.62552057e-01 2.70722634e-01 1.42405185e-02 1.53249809e+02] [-2.70692953e-01 9.62657393e-01 -4.00868944e-03 -2.70030657e+01] [-1.47939834e-02 3.76424739e-06 9.99890563e-01 -3.22348583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.28, Y:-27.01, Z:-3.22 [[ 9.61611370e-01 2.74047051e-01 1.42051662e-02 1.53280472e+02] [-2.74017841e-01 9.61716285e-01 -4.00137940e-03 -2.70115937e+01] [-1.47579059e-02 -4.46970517e-05 9.99891095e-01 -3.22425501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.31, Y:-27.02, Z:-3.23 [[ 9.60690795e-01 2.77247905e-01 1.43803661e-02 1.53312444e+02] [-2.77218289e-01 9.60798413e-01 -4.05337052e-03 -2.70207450e+01] [-1.49404214e-02 -9.24647218e-05 9.99888381e-01 -3.22550196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.34, Y:-27.03, Z:-3.23 [[ 9.59847468e-01 2.80148159e-01 1.44861231e-02 1.53343834e+02] [-2.80118393e-01 9.59956765e-01 -4.08602363e-03 -2.70300760e+01] [-1.50507439e-02 -1.35870095e-04 9.99886722e-01 -3.22596831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.37, Y:-27.04, Z:-3.23 [[ 9.59062342e-01 2.82825950e-01 1.44535945e-02 1.53374405e+02] [-2.82796578e-01 9.59171232e-01 -4.07970567e-03 -2.70392370e+01] [-1.50173187e-02 -1.74734999e-04 9.99887218e-01 -3.22679969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.41, Y:-27.05, Z:-3.23 [[ 9.57805099e-01 2.87067617e-01 1.41977543e-02 1.53406552e+02] [-2.87039704e-01 9.57910292e-01 -4.00995772e-03 -2.70483785e+01] [-1.47513039e-02 -2.34561236e-04 9.99891166e-01 -3.22745086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.44, Y:-27.06, Z:-3.23 [[ 9.57190913e-01 2.89114864e-01 1.40766382e-02 1.53438483e+02] [-2.89087609e-01 9.57294378e-01 -3.97838500e-03 -2.70568726e+01] [-1.46256968e-02 -2.61307700e-04 9.99893005e-01 -3.22839635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.518623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:153.47, Y:-27.06, Z:-3.23 [[ 9.56731549e-01 2.90656369e-01 1.35506008e-02 1.53469228e+02] [-2.90631229e-01 9.56827467e-01 -3.83241783e-03 -2.70645367e+01] [-1.40795037e-02 -2.71632727e-04 9.99900842e-01 -3.22904729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.548623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.50, Y:-27.07, Z:-3.23 [[ 9.56288014e-01 2.92120122e-01 1.33816239e-02 1.53500400e+02] [-2.92095713e-01 9.56381593e-01 -3.78720194e-03 -2.70723687e+01] [-1.39042566e-02 -2.87059138e-04 9.99903290e-01 -3.23014837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.578623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:153.53, Y:-27.08, Z:-3.22 [[ 9.55856093e-01 2.93560478e-01 1.27033429e-02 1.53533037e+02] [-2.93538581e-01 9.55940459e-01 -3.59724885e-03 -2.70801931e+01] [-1.31996495e-02 -2.90469005e-04 9.99912839e-01 -3.22434476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.56, Y:-27.09, Z:-3.23 [[ 9.55383341e-01 2.95081300e-01 1.30268329e-02 1.53563386e+02] [-2.95058377e-01 9.55472096e-01 -3.69162518e-03 -2.70860676e+01] [-1.35361049e-02 -3.16758980e-04 9.99908333e-01 -3.23171595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.59, Y:-27.09, Z:-3.23 [[ 9.55189833e-01 2.95696661e-01 1.32614695e-02 1.53594407e+02] [-2.95672926e-01 9.55281831e-01 -3.76089440e-03 -2.70932607e+01] [-1.37805248e-02 -3.28689405e-04 9.99904990e-01 -3.23247768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.62, Y:-27.10, Z:-3.23 [[ 9.55094030e-01 2.95987584e-01 1.36654532e-02 1.53624319e+02] [-2.95962405e-01 9.55191726e-01 -3.87585054e-03 -2.70999184e+01] [-1.42003314e-02 -3.42658680e-04 9.99899111e-01 -3.23282931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.66, Y:-27.11, Z:-3.23 [[ 9.55068543e-01 2.96061071e-01 1.38535493e-02 1.53656733e+02] [-2.96035211e-01 9.55168949e-01 -3.92848582e-03 -2.71072615e+01] [-1.43955518e-02 -3.49165165e-04 9.99896318e-01 -3.23306589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.69, Y:-27.11, Z:-3.23 [[ 9.55269585e-01 2.95427306e-01 1.35176622e-02 1.53688385e+02] [-2.95402585e-01 9.55365165e-01 -3.83588850e-03 -2.71119442e+01] [-1.40475298e-02 -3.28844741e-04 9.99901275e-01 -3.23458545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.72, Y:-27.12, Z:-3.24 [[ 9.55513636e-01 2.94639501e-01 1.34631144e-02 1.53717108e+02] [-2.94614851e-01 9.55608428e-01 -3.82394550e-03 -2.71177667e+01] [-1.39921510e-02 -3.12601384e-04 9.99902056e-01 -3.23523248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.75, Y:-27.12, Z:-3.24 [[ 9.55802498e-01 2.93688334e-01 1.37385479e-02 1.53748301e+02] [-2.93662585e-01 9.55901182e-01 -3.90092484e-03 -2.71246931e+01] [-1.42783503e-02 -3.05983774e-04 9.99898012e-01 -3.23620828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.78, Y:-27.13, Z:-3.24 [[ 9.56698262e-01 2.90740317e-01 1.40891232e-02 1.53778871e+02] [-2.90712881e-01 9.56801963e-01 -4.00299296e-03 -2.71297134e+01] [-1.46443322e-02 -2.66233187e-04 9.99892731e-01 -3.23698646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.81, Y:-27.14, Z:-3.24 [[ 9.57169422e-01 2.89164767e-01 1.45063778e-02 1.53809798e+02] [-2.89135456e-01 9.57279310e-01 -4.12445118e-03 -2.71365405e+01] [-1.50793013e-02 -2.46509617e-04 9.99886270e-01 -3.23743298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:-27.14, Z:-3.24 [[ 9.57623444e-01 2.87640905e-01 1.48340336e-02 1.53839493e+02] [-2.87610069e-01 9.57738304e-01 -4.21784856e-03 -2.71426035e+01] [-1.54203480e-02 -2.27306763e-04 9.99881074e-01 -3.23805899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:-27.15, Z:-3.24 [[ 9.58688071e-01 2.84089451e-01 1.45040354e-02 1.53867254e+02] [-2.84059545e-01 9.58797766e-01 -4.12531364e-03 -2.71457247e+01] [-1.50783948e-02 -1.65120732e-04 9.99886301e-01 -3.23862681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:-27.15, Z:-3.24 [[ 9.58706997e-01 2.84025563e-01 1.45042346e-02 1.53895499e+02] [-2.83995661e-01 9.58816694e-01 -4.12461328e-03 -2.71536399e+01] [-1.50783979e-02 -1.64844070e-04 9.99886301e-01 -3.23919269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.92, Y:-27.16, Z:-3.24 [[ 9.59277731e-01 2.82085382e-01 1.46312170e-02 1.53923495e+02] [-2.82054746e-01 9.59389295e-01 -4.15955536e-03 -2.71591354e+01] [-1.52103827e-02 -1.36635354e-04 9.99884306e-01 -3.23946041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.95, Y:-27.17, Z:-3.24 [[ 9.59816666e-01 2.80231238e-01 1.49138135e-02 1.53954963e+02] [-2.80199206e-01 9.59932519e-01 -4.23839248e-03 -2.71658568e+01] [-1.55039846e-02 -1.10758975e-04 9.99879800e-01 -3.24023000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.99, Y:-27.17, Z:-3.24 [[ 9.60388871e-01 2.78268213e-01 1.48329946e-02 1.53986141e+02] [-2.78236254e-01 9.60503408e-01 -4.21795064e-03 -2.71725242e+01] [-1.54208635e-02 -7.62040048e-05 9.99881089e-01 -3.24086234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.02, Y:-27.18, Z:-3.24 [[ 9.60906591e-01 2.76483704e-01 1.46725923e-02 1.54017230e+02] [-2.76452183e-01 9.61018605e-01 -4.17508659e-03 -2.71795318e+01] [-1.52549776e-02 -4.44019365e-05 9.99883635e-01 -3.24173985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.05, Y:-27.19, Z:-3.24 [[ 9.61996906e-01 2.72699394e-01 1.40354395e-02 1.54049467e+02] [-2.72670115e-01 9.62099288e-01 -3.99606310e-03 -2.71853733e+01] [-1.45932103e-02 1.71554509e-05 9.99893513e-01 -3.24259549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.08, Y:-27.19, Z:-3.24 [[ 9.62530632e-01 2.70822229e-01 1.37877650e-02 1.54079258e+02] [-2.70793737e-01 9.62629377e-01 -3.92864340e-03 -2.71921234e+01] [-1.43364716e-02 4.77992037e-05 9.99897226e-01 -3.24329477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:-27.20, Z:-3.24 [[ 9.63083040e-01 2.68853465e-01 1.37431143e-02 1.54110916e+02] [-2.68824967e-01 9.63181088e-01 -3.91516046e-03 -2.71999282e+01] [-1.42897122e-02 7.61323977e-05 9.99897894e-01 -3.24438204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.178623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.14, Y:-27.21, Z:-3.24 [[ 9.63649313e-01 2.66826369e-01 1.35532050e-02 1.54141643e+02] [-2.66798407e-01 9.63744612e-01 -3.86431217e-03 -2.72075471e+01] [-1.40929287e-02 1.07868261e-04 9.99900684e-01 -3.24477192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:-27.21, Z:-3.25 [[ 9.64771014e-01 2.62741673e-01 1.35537421e-02 1.54174264e+02] [-2.62713294e-01 9.64866200e-01 -3.86529150e-03 -2.72141390e+01] [-1.40931208e-02 1.68372970e-04 9.99900673e-01 -3.24570463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.20, Y:-27.22, Z:-3.25 [[ 9.65336416e-01 2.60654775e-01 1.35901410e-02 1.54204326e+02] [-2.60625994e-01 9.65432052e-01 -3.87868497e-03 -2.72215121e+01] [-1.41313555e-02 2.02291841e-04 9.99900127e-01 -3.24633441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.268623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:154.23, Y:-27.23, Z:-3.25 [[ 9.65883051e-01 2.58617707e-01 1.36679994e-02 1.54234401e+02] [-2.58588348e-01 9.65979723e-01 -3.90391341e-03 -2.72295155e+01] [-1.42126314e-02 2.36338418e-04 9.99898968e-01 -3.24675238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.298623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:154.26, Y:-27.24, Z:-3.25 [[ 9.66353235e-01 2.56839796e-01 1.39550650e-02 1.54264466e+02] [-2.56809010e-01 9.66453955e-01 -3.98563455e-03 -2.72381505e+01] [-1.45105973e-02 2.67744427e-04 9.99894680e-01 -3.24703560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.328623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.29, Y:-27.25, Z:-3.25 [[ 9.67223998e-01 2.53537672e-01 1.40137667e-02 1.54293581e+02] [-2.53506235e-01 9.67325460e-01 -4.00543164e-03 -2.72463031e+01] [-1.45714011e-02 3.21572387e-04 9.99893780e-01 -3.24705644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.32, Y:-27.25, Z:-3.25 [[ 9.67535658e-01 2.52354523e-01 1.38544222e-02 1.54322127e+02] [-2.52323675e-01 9.67634787e-01 -3.95994375e-03 -2.72546454e+01] [-1.44053306e-02 3.35588064e-04 9.99896182e-01 -3.24739604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.388623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.35, Y:-27.26, Z:-3.25 [[ 9.67782901e-01 2.51411756e-01 1.37253247e-02 1.54352612e+02] [-2.51381400e-01 9.67880163e-01 -3.92198546e-03 -2.72638278e+01] [-1.42705028e-02 3.45339120e-04 9.99898112e-01 -3.24819009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.38, Y:-27.27, Z:-3.25 [[ 9.67960148e-01 2.50725437e-01 1.37807041e-02 1.54383748e+02] [-2.50694731e-01 9.68058173e-01 -3.94022181e-03 -2.72729849e+01] [-1.43284370e-02 3.59227777e-04 9.99897278e-01 -3.24909057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:154.41, Y:-27.28, Z:-3.25 [[ 9.68027070e-01 2.50456109e-01 1.39760480e-02 1.54414431e+02] [-2.50424463e-01 9.68127884e-01 -3.99855110e-03 -2.72815520e+01] [-1.45320633e-02 3.70761383e-04 9.99894335e-01 -3.24917963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.44, Y:-27.29, Z:-3.25 [[ 9.67927840e-01 2.50835717e-01 1.40406506e-02 1.54444473e+02] [-2.50803781e-01 9.68029600e-01 -4.01953019e-03 -2.72902177e+01] [-1.46000071e-02 3.69166911e-04 9.99893346e-01 -3.24948023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.48, Y:-27.30, Z:-3.25 [[ 9.67835394e-01 2.51172265e-01 1.43924907e-02 1.54475777e+02] [-2.51138713e-01 9.67942329e-01 -4.12241794e-03 -2.72995454e+01] [-1.49665380e-02 3.75310404e-04 9.99887925e-01 -3.25059486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.51, Y:-27.31, Z:-3.25 [[ 9.67661977e-01 2.51833667e-01 1.44949304e-02 1.54506329e+02] [-2.51799664e-01 9.67770462e-01 -4.15485450e-03 -2.73097411e+01] [-1.50740978e-02 3.70676112e-04 9.99886311e-01 -3.25102607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:154.53, Y:-27.32, Z:-3.25 [[ 9.67597947e-01 2.52069896e-01 1.46621871e-02 1.54534979e+02] [-2.52035078e-01 9.67708958e-01 -4.20620773e-03 -2.73185707e+01] [-1.52489882e-02 3.74532500e-04 9.99883657e-01 -3.25172911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:154.57, Y:-27.33, Z:-3.25 [[ 9.67445909e-01 2.52653610e-01 1.46480612e-02 1.54565276e+02] [-2.52618911e-01 9.67556727e-01 -4.20315418e-03 -2.73281275e+01] [-1.52347722e-02 3.65947053e-04 9.99883877e-01 -3.25288772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.59, Y:-27.34, Z:-3.25 [[ 9.67355765e-01 2.53022203e-01 1.42333692e-02 1.54594359e+02] [-2.52989475e-01 9.67460409e-01 -4.08454425e-03 -2.73370155e+01] [-1.48037015e-02 3.50314838e-04 9.99890358e-01 -3.25326014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.62, Y:-27.35, Z:-3.25 [[ 9.66870886e-01 2.54870249e-01 1.42072180e-02 1.54623234e+02] [-2.54837837e-01 9.66975208e-01 -4.07726267e-03 -2.73464041e+01] [-1.47772005e-02 3.21649868e-04 9.99890759e-01 -3.25435900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.65, Y:-27.35, Z:-3.25 [[ 9.66538777e-01 2.56122064e-01 1.42927133e-02 1.54651648e+02] [-2.56089396e-01 9.66644400e-01 -4.10190007e-03 -2.73546938e+01] [-1.48665584e-02 3.04433164e-04 9.99889440e-01 -3.25432469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:154.68, Y:-27.36, Z:-3.26 [[ 9.66179102e-01 2.57460585e-01 1.45598713e-02 1.54679416e+02] [-2.57426841e-01 9.66288758e-01 -4.17826300e-03 -2.73627288e+01] [-1.51447780e-02 2.88848713e-04 9.99885270e-01 -3.25514958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.71, Y:-27.37, Z:-3.26 [[ 9.65771591e-01 2.58988139e-01 1.45043919e-02 1.54707757e+02] [-2.58954832e-01 9.65880466e-01 -4.16178068e-03 -2.73711880e+01] [-1.50873606e-02 2.63347192e-04 9.99886145e-01 -3.25582210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:-27.38, Z:-3.26 [[ 9.65381758e-01 2.60455111e-01 1.41843592e-02 1.54735407e+02] [-2.60423420e-01 9.65485930e-01 -4.06967995e-03 -2.73793292e+01] [-1.47547682e-02 2.34855441e-04 9.99891115e-01 -3.25644941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.76, Y:-27.39, Z:-3.26 [[ 9.65015734e-01 2.61824675e-01 1.38734237e-02 1.54763236e+02] [-2.61794506e-01 9.65115431e-01 -3.98005059e-03 -2.73874051e+01] [-1.44315307e-02 2.08825343e-04 9.99895838e-01 -3.25695235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.79, Y:-27.40, Z:-3.26 [[ 9.64342324e-01 2.64251971e-01 1.46553275e-02 1.54793609e+02] [-2.64218601e-01 9.64453660e-01 -4.20334874e-03 -2.73964694e+01] [-1.52451274e-02 1.81256966e-04 9.99883770e-01 -3.25756570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:154.82, Y:-27.41, Z:-3.26 [[ 9.64016442e-01 2.65419644e-01 1.49903863e-02 1.54823410e+02] [-2.65384873e-01 9.64132971e-01 -4.29934673e-03 -2.74058447e+01] [-1.55938568e-02 1.66419170e-04 9.99878395e-01 -3.25761914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:154.86, Y:-27.42, Z:-3.26 [[ 9.63731659e-01 2.66444041e-01 1.51281789e-02 1.54855359e+02] [-2.66408716e-01 9.63850377e-01 -4.34124135e-03 -2.74155784e+01] [-1.57379988e-02 1.53513013e-04 9.99876138e-01 -3.25853690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:154.89, Y:-27.42, Z:-3.26 [[ 9.63494371e-01 2.67309765e-01 1.49694868e-02 1.54885724e+02] [-2.67275233e-01 9.63610642e-01 -4.29890187e-03 -2.74243184e+01] [-1.55738952e-02 1.40994691e-04 9.99878710e-01 -3.25865819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:154.92, Y:-27.43, Z:-3.26 [[ 9.63105845e-01 2.68717423e-01 1.47674653e-02 1.54917454e+02] [-2.68683931e-01 9.63219047e-01 -4.24416682e-03 -2.74335213e+01] [-1.53647854e-02 1.19801244e-04 9.99881948e-01 -3.26004663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:154.95, Y:-27.44, Z:-3.25 [[ 9.62878686e-01 2.69569049e-01 1.40415196e-02 1.54948816e+02] [-2.69538849e-01 9.62981058e-01 -4.03626274e-03 -2.74421803e+01] [-1.46097689e-02 1.01696337e-04 9.99893266e-01 -3.25401394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:154.98, Y:-27.45, Z:-3.26 [[ 9.62776804e-01 2.69911847e-01 1.44367643e-02 1.54978497e+02] [-2.69879907e-01 9.62885032e-01 -4.15350645e-03 -2.74514174e+01] [-1.50220249e-02 1.02707068e-04 9.99887158e-01 -3.26166201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.048623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.01, Y:-27.46, Z:-3.26 [[ 9.62600787e-01 2.70549134e-01 1.42439629e-02 1.55009616e+02] [-2.70518116e-01 9.62706164e-01 -4.09772700e-03 -2.74609012e+01] [-1.48213874e-02 9.12252179e-05 9.99890153e-01 -3.26278678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.04, Y:-27.47, Z:-3.26 [[ 9.62538065e-01 2.70783800e-01 1.40216695e-02 1.55040404e+02] [-2.70753731e-01 9.62640185e-01 -4.03625383e-03 -2.74705154e+01] [-1.45907747e-02 8.86286196e-05 9.99893545e-01 -3.26348110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.07, Y:-27.48, Z:-3.26 [[ 9.62521235e-01 2.70848000e-01 1.39367417e-02 1.55071846e+02] [-2.70818267e-01 9.62622124e-01 -4.01416586e-03 -2.74802975e+01] [-1.45030447e-02 8.93956368e-05 9.99894821e-01 -3.26412863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.138623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:155.10, Y:-27.49, Z:-3.26 [[ 9.62594738e-01 2.70596776e-01 1.37388178e-02 1.55102708e+02] [-2.70567816e-01 9.62692773e-01 -3.95997610e-03 -2.74898628e+01] [-1.42978174e-02 9.45702215e-05 9.99897777e-01 -3.26455049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.13, Y:-27.50, Z:-3.27 [[ 9.62692961e-01 2.70239572e-01 1.38865439e-02 1.55133040e+02] [-2.70209894e-01 9.62793105e-01 -4.00633547e-03 -2.74990022e+01] [-1.44525391e-02 1.04589415e-04 9.99895551e-01 -3.26531612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19862385300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:155.16, Y:-27.51, Z:-3.26 [[ 9.62867577e-01 2.69650727e-01 1.32104103e-02 1.55163851e+02] [-2.69623809e-01 9.62958189e-01 -3.81158159e-03 -2.75072145e+01] [-1.37488685e-02 1.08207194e-04 9.99905474e-01 -3.25746027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.19, Y:-27.52, Z:-3.27 [[ 9.63058884e-01 2.68924121e-01 1.40500417e-02 1.55193686e+02] [-2.68893589e-01 9.63161358e-01 -4.05422314e-03 -2.75160827e+01] [-1.46227357e-02 1.26489476e-04 9.99893074e-01 -3.26713916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:-27.53, Z:-3.27 [[ 9.63064355e-01 2.68902590e-01 1.40870828e-02 1.55224401e+02] [-2.68871899e-01 9.63167369e-01 -4.06458118e-03 -2.75251046e+01] [-1.46611948e-02 1.26832555e-04 9.99892511e-01 -3.26729688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.25, Y:-27.53, Z:-3.27 [[ 9.63063957e-01 2.68896923e-01 1.42217898e-02 1.55253999e+02] [-2.68865602e-01 9.63168951e-01 -4.10609722e-03 -2.75341499e+01] [-1.48021033e-02 1.30684153e-04 9.99890434e-01 -3.26761770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.28, Y:-27.54, Z:-3.27 [[ 9.62886084e-01 2.69537110e-01 1.41469457e-02 1.55283472e+02] [-2.69506153e-01 9.62989995e-01 -4.08682238e-03 -2.75428795e+01] [-1.47249175e-02 1.22455478e-04 9.99891575e-01 -3.26815408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.31, Y:-27.55, Z:-3.27 [[ 9.62751561e-01 2.70017854e-01 1.41347076e-02 1.55312955e+02] [-2.69986958e-01 9.62855308e-01 -4.08633703e-03 -2.75507288e+01] [-1.47130622e-02 1.17940633e-04 9.99891750e-01 -3.26891766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.34, Y:-27.56, Z:-3.27 [[ 9.62578812e-01 2.70635440e-01 1.40886145e-02 1.55342504e+02] [-2.70604811e-01 9.62681903e-01 -4.07301153e-03 -2.75585722e+01] [-1.46651555e-02 1.08147734e-04 9.99892455e-01 -3.26932517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:-27.57, Z:-3.27 [[ 9.62420212e-01 2.71207246e-01 1.39271338e-02 1.55371364e+02] [-2.71177376e-01 9.62520971e-01 -4.02626389e-03 -2.75659667e+01] [-1.44971103e-02 9.82341574e-05 9.99894907e-01 -3.26987615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.40, Y:-27.57, Z:-3.27 [[ 9.61988555e-01 2.72752098e-01 1.35762249e-02 1.55400375e+02] [-2.72723862e-01 9.62084345e-01 -3.92518823e-03 -2.75725466e+01] [-1.41320768e-02 7.34256519e-05 9.99900135e-01 -3.27050641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.43, Y:-27.58, Z:-3.27 [[ 9.61841843e-01 2.73269871e-01 1.35590004e-02 1.55428136e+02] [-2.73241763e-01 9.61937406e-01 -3.91993788e-03 -2.75799554e+01] [-1.41141106e-02 6.54751126e-05 9.99900389e-01 -3.27144658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.498623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.46, Y:-27.59, Z:-3.27 [[ 9.61684995e-01 2.73829250e-01 1.33982195e-02 1.55458507e+02] [-2.73801870e-01 9.61778321e-01 -3.87265858e-03 -2.75884490e+01] [-1.39465642e-02 5.58201051e-05 9.99902740e-01 -3.27230056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:155.49, Y:-27.60, Z:-3.27 [[ 9.61494214e-01 2.74501920e-01 1.33256631e-02 1.55490193e+02] [-2.74474908e-01 9.61586550e-01 -3.85105190e-03 -2.75970633e+01] [-1.38708995e-02 4.52039635e-05 9.99903793e-01 -3.27330932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.52, Y:-27.60, Z:-3.27 [[ 9.61398818e-01 2.74811492e-01 1.38187294e-02 1.55521678e+02] [-2.74782431e-01 9.61498124e-01 -3.99670787e-03 -2.76043038e+01] [-1.43850237e-02 4.52861613e-05 9.99896529e-01 -3.27328218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.55, Y:-27.61, Z:-3.27 [[ 9.61421315e-01 2.74729963e-01 1.38745561e-02 1.55551703e+02] [-2.74700612e-01 9.61521422e-01 -4.01604889e-03 -2.76129937e+01] [-1.44440118e-02 4.97659547e-05 9.99895679e-01 -3.27375025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.58, Y:-27.62, Z:-3.27 [[ 9.61589261e-01 2.74149193e-01 1.37227511e-02 1.55580561e+02] [-2.74120394e-01 9.61687172e-01 -3.97404759e-03 -2.76209667e+01] [-1.42864757e-02 5.97155310e-05 9.99897941e-01 -3.27441382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:-27.63, Z:-3.28 [[ 9.61815019e-01 2.73353277e-01 1.37787739e-02 1.55609653e+02] [-2.73324165e-01 9.61913707e-01 -3.99003649e-03 -2.76290861e+01] [-1.43446810e-02 7.16051666e-05 9.99897107e-01 -3.27539966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.678623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.64, Y:-27.64, Z:-3.28 [[ 9.62047295e-01 2.72530464e-01 1.38617688e-02 1.55639823e+02] [-2.72500916e-01 9.62147150e-01 -4.01394955e-03 -2.76376304e+01] [-1.44309849e-02 8.42646079e-05 9.99895864e-01 -3.27581599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.67, Y:-27.65, Z:-3.28 [[ 9.62464952e-01 2.71065899e-01 1.35828484e-02 1.55671097e+02] [-2.71037388e-01 9.62560786e-01 -3.93274967e-03 -2.76465949e+01] [-1.41403516e-02 1.03673951e-04 9.99900015e-01 -3.27623442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:155.70, Y:-27.66, Z:-3.28 [[ 9.62667931e-01 2.70347548e-01 1.35150967e-02 1.55700550e+02] [-2.70319215e-01 9.62762790e-01 -3.91564732e-03 -2.76557691e+01] [-1.40704179e-02 1.16077775e-04 9.99901000e-01 -3.27659538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.768623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:155.73, Y:-27.67, Z:-3.28 [[ 9.62914059e-01 2.69476769e-01 1.33711204e-02 1.55730462e+02] [-2.69448912e-01 9.63006882e-01 -3.87681756e-03 -2.76650558e+01] [-1.39211932e-02 1.30208279e-04 9.99903087e-01 -3.27739434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.76, Y:-27.67, Z:-3.28 [[ 9.63381368e-01 2.67800101e-01 1.33957073e-02 1.55759936e+02] [-2.67771981e-01 9.63474484e-01 -3.88380152e-03 -2.76743940e+01] [-1.39465046e-02 1.54586954e-04 9.99902731e-01 -3.27782743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.828623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.79, Y:-27.68, Z:-3.28 [[ 9.63371904e-01 2.67834186e-01 1.33949201e-02 1.55790487e+02] [-2.67806032e-01 9.63465009e-01 -3.88651444e-03 -2.76833097e+01] [-1.39464782e-02 1.56918415e-04 9.99902731e-01 -3.27844203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:-27.69, Z:-3.28 [[ 9.63649435e-01 2.66838748e-01 1.32984389e-02 1.55819304e+02] [-2.66810894e-01 9.63741176e-01 -3.85915882e-03 -2.76917374e+01] [-1.38460262e-02 1.70707847e-04 9.99904125e-01 -3.27915226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.85, Y:-27.70, Z:-3.28 [[ 9.63847784e-01 2.66112874e-01 1.34680544e-02 1.55850348e+02] [-2.66084244e-01 9.63941858e-01 -3.90770927e-03 -2.77014014e+01] [-1.40223131e-02 1.82799840e-04 9.99901666e-01 -3.27941627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.88, Y:-27.71, Z:-3.28 [[ 9.63963259e-01 2.65686047e-01 1.36293354e-02 1.55881016e+02] [-2.65656649e-01 9.64059587e-01 -3.95699966e-03 -2.77113535e+01] [-1.41908111e-02 1.93678714e-04 9.99899287e-01 -3.28000115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:-27.72, Z:-3.28 [[ 9.64066358e-01 2.65311655e-01 1.36302121e-02 1.55911212e+02] [-2.65282181e-01 9.64162686e-01 -3.95969463e-03 -2.77214776e+01] [-1.41922950e-02 2.01555985e-04 9.99899264e-01 -3.28070766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:155.94, Y:-27.73, Z:-3.28 [[ 9.64177300e-01 2.64914877e-01 1.34996754e-02 1.55940590e+02] [-2.64885888e-01 9.64271779e-01 -3.92453979e-03 -2.77313505e+01] [-1.40570250e-02 2.08078673e-04 9.99901173e-01 -3.28119025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:-27.74, Z:-3.28 [[ 9.64067069e-01 2.65308496e-01 1.36414105e-02 1.55969634e+02] [-2.65278909e-01 9.64163554e-01 -3.96753859e-03 -2.77404536e+01] [-1.42051725e-02 2.06194812e-04 9.99899080e-01 -3.28151836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:-27.75, Z:-3.28 [[ 9.63889039e-01 2.65942437e-01 1.38758693e-02 1.55998010e+02] [-2.65911887e-01 9.63988890e-01 -4.03590813e-03 -2.77497301e+01] [-1.44495031e-02 2.00409025e-04 9.99895580e-01 -3.28246619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.03, Y:-27.76, Z:-3.28 [[ 9.63650164e-01 2.66811256e-01 1.37881931e-02 1.56026740e+02] [-2.66781177e-01 9.63748784e-01 -4.01057802e-03 -2.77591517e+01] [-1.43584217e-02 1.86363795e-04 9.99896895e-01 -3.28283706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:-27.77, Z:-3.28 [[ 9.62846371e-01 2.69697230e-01 1.37938602e-02 1.56057638e+02] [-2.69667433e-01 9.62945161e-01 -4.01146161e-03 -2.77695902e+01] [-1.43646110e-02 1.42666363e-04 9.99896813e-01 -3.28355129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.09, Y:-27.78, Z:-3.28 [[ 9.62295810e-01 2.71652879e-01 1.38379163e-02 1.56088531e+02] [-2.71623051e-01 9.62395293e-01 -4.02725851e-03 -2.77795141e+01] [-1.44115619e-02 1.16716938e-04 9.99896141e-01 -3.28418801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:156.12, Y:-27.79, Z:-3.28 [[ 9.61776323e-01 2.73497516e-01 1.36166564e-02 1.56118636e+02] [-2.73468770e-01 9.61872705e-01 -3.96630638e-03 -2.77883448e+01] [-1.41822650e-02 9.09692983e-05 9.99899422e-01 -3.27729931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.15, Y:-27.80, Z:-3.29 [[ 9.61155483e-01 2.75644100e-01 1.41586850e-02 1.56149341e+02] [-2.75613256e-01 9.61259760e-01 -4.12389558e-03 -2.77985374e+01] [-1.47469016e-02 6.13835670e-05 9.99891257e-01 -3.28526544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.18, Y:-27.81, Z:-3.29 [[ 9.60024285e-01 2.79560205e-01 1.41231534e-02 1.56178627e+02] [-2.79529891e-01 9.60128164e-01 -4.11680766e-03 -2.78071358e+01] [-1.47109329e-02 4.39180702e-06 9.99891788e-01 -3.28549042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:156.21, Y:-27.82, Z:-3.28 [[ 9.59465134e-01 2.81493872e-01 1.37060745e-02 1.56209548e+02] [-2.81465528e-01 9.59563025e-01 -3.99458017e-03 -2.78152757e+01] [-1.42762921e-02 -2.51271047e-05 9.99898088e-01 -3.27752099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.278623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.24, Y:-27.82, Z:-3.29 [[ 9.58900871e-01 2.83376258e-01 1.43880657e-02 1.56239416e+02] [-2.83345188e-01 9.59008808e-01 -4.19647950e-03 -2.78248691e+01] [-1.49874644e-02 -5.27813353e-05 9.99887680e-01 -3.28683769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.27, Y:-27.83, Z:-3.29 [[ 9.58451624e-01 2.84896876e-01 1.42917575e-02 1.56268563e+02] [-2.84866364e-01 9.58558169e-01 -4.17020407e-03 -2.78333330e+01] [-1.48875590e-02 -7.43021199e-05 9.99889171e-01 -3.28701525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.30, Y:-27.84, Z:-3.29 [[ 9.57604370e-01 2.87723366e-01 1.44614930e-02 1.56297054e+02] [-2.87692441e-01 9.57713553e-01 -4.22006827e-03 -2.78408083e+01] [-1.50641801e-02 -1.19306412e-04 9.99886522e-01 -3.28850467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.32, Y:-27.85, Z:-3.29 [[ 9.57222070e-01 2.89001139e-01 1.42916307e-02 1.56324335e+02] [-2.88971083e-01 9.57328743e-01 -4.17020255e-03 -2.78481657e+01] [-1.48869821e-02 -1.38058061e-04 9.99889173e-01 -3.28897200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.35, Y:-27.86, Z:-3.29 [[ 9.56819186e-01 2.90329804e-01 1.43405096e-02 1.56351597e+02] [-2.90299697e-01 9.56926632e-01 -4.18404994e-03 -2.78553475e+01] [-1.49375700e-02 -1.59666345e-04 9.99888416e-01 -3.28950783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.38, Y:-27.86, Z:-3.29 [[ 9.56387011e-01 2.91754971e-01 1.42450657e-02 1.56379984e+02] [-2.91725438e-01 9.56493076e-01 -4.15510186e-03 -2.78627253e+01] [-1.48375783e-02 -1.81762573e-04 9.99889901e-01 -3.28979533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:-27.87, Z:-3.29 [[ 9.55657317e-01 2.94121134e-01 1.45551257e-02 1.56410358e+02] [-2.94090583e-01 9.55768125e-01 -4.24507244e-03 -2.78692423e+01] [-1.51598907e-02 -2.23690859e-04 9.99885057e-01 -3.29027334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:-27.88, Z:-3.29 [[ 9.55306887e-01 2.95264404e-01 1.44112328e-02 1.56439018e+02] [-2.95234585e-01 9.55415551e-01 -4.20304666e-03 -2.78760897e+01] [-1.50097260e-02 -2.39494924e-04 9.99887319e-01 -3.29055193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.47, Y:-27.88, Z:-3.29 [[ 9.54975820e-01 2.96323656e-01 1.46107865e-02 1.56467643e+02] [-2.96293122e-01 9.55087548e-01 -4.26170833e-03 -2.78826124e+01] [-1.52174252e-02 -2.59247134e-04 9.99884175e-01 -3.29129869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.50, Y:-27.89, Z:-3.29 [[ 9.54747226e-01 2.97051093e-01 1.47777998e-02 1.56496895e+02] [-2.97019957e-01 9.54861546e-01 -4.30959235e-03 -2.78889403e+01] [-1.53909219e-02 -2.74730114e-04 9.99881515e-01 -3.29176016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.578623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.53, Y:-27.89, Z:-3.29 [[ 9.54548555e-01 2.97686350e-01 1.48287774e-02 1.56525002e+02] [-2.97655080e-01 9.54663687e-01 -4.32412468e-03 -2.78947635e+01] [-1.54437282e-02 -2.86273952e-04 9.99880698e-01 -3.29162969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.608623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.55, Y:-27.90, Z:-3.29 [[ 9.54500140e-01 2.97825745e-01 1.51429433e-02 1.56552666e+02] [-2.97793161e-01 9.54620207e-01 -4.41525573e-03 -2.78976563e+01] [-1.57707365e-02 -2.95102741e-04 9.99875591e-01 -3.29263368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.638623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:156.58, Y:-27.90, Z:-3.28 [[ 9.54707586e-01 2.97187358e-01 1.45979299e-02 1.56581630e+02] [-2.97157019e-01 9.54819145e-01 -4.25528863e-03 -2.79022723e+01] [-1.52030009e-02 -2.75320986e-04 9.99884390e-01 -3.28415961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.668623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:156.61, Y:-27.91, Z:-3.29 [[ 9.54917893e-01 2.96493408e-01 1.49491385e-02 1.56608300e+02] [-2.96461519e-01 9.55034861e-01 -4.35693267e-03 -2.79086094e+01] [-1.55687502e-02 -2.71331335e-04 9.99878763e-01 -3.29356168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.64, Y:-27.91, Z:-3.29 [[ 9.55316394e-01 2.95198021e-01 1.51233411e-02 1.56636284e+02] [-2.95165237e-01 9.55436059e-01 -4.40669784e-03 -2.79146184e+01] [-1.57502339e-02 -2.54093857e-04 9.99875925e-01 -3.29442798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:-27.92, Z:-3.30 [[ 9.56386338e-01 2.91715752e-01 1.50695671e-02 1.56663995e+02] [-2.91682779e-01 9.56505035e-01 -4.39030483e-03 -2.79187445e+01] [-1.56948378e-02 -1.96705644e-04 9.99876809e-01 -3.29509595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.69, Y:-27.92, Z:-3.30 [[ 9.57012766e-01 2.89665489e-01 1.48482226e-02 1.56692755e+02] [-2.89633246e-01 9.57127932e-01 -4.32485058e-03 -2.79247858e+01] [-1.54644086e-02 -1.61601694e-04 9.99880406e-01 -3.29570633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:-27.93, Z:-3.30 [[ 9.57672258e-01 2.87489489e-01 1.46164397e-02 1.56720451e+02] [-2.87458002e-01 9.57783785e-01 -4.25664143e-03 -2.79307404e+01] [-1.52231286e-02 -1.25145127e-04 9.99884114e-01 -3.29692819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.75, Y:-27.94, Z:-3.30 [[ 9.58890224e-01 2.83402390e-01 1.45816080e-02 1.56749627e+02] [-2.83370594e-01 9.59001085e-01 -4.24550929e-03 -2.79352860e+01] [-1.51869653e-02 -6.10215617e-05 9.99884670e-01 -3.29765225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.78, Y:-27.94, Z:-3.30 [[ 9.59425152e-01 2.81582668e-01 1.46485103e-02 1.56778145e+02] [-2.81550380e-01 9.59536972e-01 -4.26421651e-03 -2.79414385e+01] [-1.52565167e-02 -3.30970696e-05 9.99883612e-01 -3.29834418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.81, Y:-27.95, Z:-3.30 [[ 9.59869620e-01 2.80081462e-01 1.43068802e-02 1.56805656e+02] [-2.80050506e-01 9.59976236e-01 -4.16409270e-03 -2.79470866e+01] [-1.49005501e-02 -9.66295436e-06 9.99888981e-01 -3.29880339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.83, Y:-27.95, Z:-3.30 [[ 9.60240077e-01 2.78824778e-01 1.39906173e-02 1.56833546e+02] [-2.78795056e-01 9.60341993e-01 -4.07109566e-03 -2.79528886e+01] [-1.45708997e-02 8.71427719e-06 9.99893839e-01 -3.30001860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.86, Y:-27.96, Z:-3.30 [[ 9.60799144e-01 2.76907692e-01 1.36797276e-02 1.56861355e+02] [-2.76879092e-01 9.60896523e-01 -3.97992992e-03 -2.79564498e+01] [-1.42468759e-02 3.62827134e-05 9.99898507e-01 -3.30079681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:156.89, Y:-27.96, Z:-3.30 [[ 9.61014876e-01 2.76174869e-01 1.33360198e-02 1.56889828e+02] [-2.76147626e-01 9.61107403e-01 -3.87925694e-03 -2.79619137e+01] [-1.38887006e-02 4.53134192e-05 9.99903546e-01 -3.29554988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.92, Y:-27.97, Z:-3.30 [[ 9.61259431e-01 2.75310571e-01 1.35792191e-02 1.56916457e+02] [-2.75282249e-01 9.61355338e-01 -3.94933447e-03 -2.79681689e+01] [-1.41417483e-02 5.82170446e-05 9.99899999e-01 -3.30205594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.95, Y:-27.97, Z:-3.30 [[ 9.61561193e-01 2.74253540e-01 1.36039764e-02 1.56945091e+02] [-2.74225022e-01 9.61657418e-01 -3.95558552e-03 -2.79744804e+01] [-1.41671982e-02 7.29867918e-05 9.99899638e-01 -3.30262034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.058623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.97, Y:-27.98, Z:-3.30 [[ 9.62387145e-01 2.71321846e-01 1.39799722e-02 1.56973768e+02] [-2.71291431e-01 9.62488671e-01 -4.06415943e-03 -2.79797570e+01] [-1.45582601e-02 1.18648116e-04 9.99894016e-01 -3.30316899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.00, Y:-27.99, Z:-3.30 [[ 9.62921017e-01 2.69409897e-01 1.41923464e-02 1.57001784e+02] [-2.69378354e-01 9.63025589e-01 -4.12515154e-03 -2.79863107e+01] [-1.47789494e-02 1.49084195e-04 9.99890774e-01 -3.30411322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.118623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.03, Y:-27.99, Z:-3.30 [[ 9.63425282e-01 2.67594375e-01 1.43170292e-02 1.57028604e+02] [-2.67562086e-01 9.63531639e-01 -4.16069969e-03 -2.79931233e+01] [-1.49082904e-02 1.77829079e-04 9.99888849e-01 -3.30399155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.06, Y:-28.00, Z:-3.31 [[ 9.63991510e-01 2.65515832e-01 1.48899637e-02 1.57056461e+02] [-2.65480675e-01 9.64106475e-01 -4.32615018e-03 -2.80002368e+01] [-1.55041718e-02 2.17374443e-04 9.99879779e-01 -3.30515307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.08, Y:-28.01, Z:-3.31 [[ 9.64963205e-01 2.61952257e-01 1.50674326e-02 1.57084641e+02] [-2.61915834e-01 9.65080794e-01 -4.37693684e-03 -2.80076022e+01] [-1.56878383e-02 2.77183829e-04 9.99876900e-01 -3.30563309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.11, Y:-28.02, Z:-3.31 [[ 9.65455368e-01 2.60138122e-01 1.49696106e-02 1.57112619e+02] [-2.60101965e-01 9.65571367e-01 -4.34777431e-03 -2.80154918e+01] [-1.55852493e-02 3.03956914e-04 9.99878496e-01 -3.30581304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.238623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.14, Y:-28.02, Z:-3.31 [[ 9.65858251e-01 2.58639965e-01 1.49401518e-02 1.57140044e+02] [-2.58603782e-01 9.65973738e-01 -4.33845071e-03 -2.80236575e+01] [-1.55538910e-02 3.26748661e-04 9.99878978e-01 -3.30633699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.17, Y:-28.03, Z:-3.31 [[ 9.66254005e-01 2.57163691e-01 1.48335611e-02 1.57166978e+02] [-2.57127860e-01 9.66367795e-01 -4.30677384e-03 -2.80315012e+01] [-1.54422216e-02 3.47315638e-04 9.99880701e-01 -3.30687859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.298623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.19, Y:-28.04, Z:-3.31 [[ 9.66833880e-01 2.54955519e-01 1.51635251e-02 1.57194583e+02] [-2.54917821e-01 9.66952704e-01 -4.40151247e-03 -2.80396906e+01] [-1.57846015e-02 3.90078608e-04 9.99875339e-01 -3.30796471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:157.22, Y:-28.05, Z:-3.31 [[ 9.67078891e-01 2.54010982e-01 1.53895836e-02 1.57221990e+02] [-2.53972044e-01 9.67201247e-01 -4.46635369e-03 -2.80474077e+01] [-1.60193273e-02 4.10792364e-04 9.99871598e-01 -3.30854972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.358623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.25, Y:-28.06, Z:-3.31 [[ 9.67233967e-01 2.53414717e-01 1.54736532e-02 1.57249381e+02] [-2.53375289e-01 9.67357640e-01 -4.48997377e-03 -2.80555033e+01] [-1.61063820e-02 4.22213787e-04 9.99870195e-01 -3.30907506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.28, Y:-28.06, Z:-3.31 [[ 9.67326343e-01 2.53064405e-01 1.54322011e-02 1.57276116e+02] [-2.53025156e-01 9.67449340e-01 -4.47722317e-03 -2.80632958e+01] [-1.60628986e-02 4.26200829e-04 9.99870892e-01 -3.30960894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.30, Y:-28.07, Z:-3.31 [[ 9.67289665e-01 2.53173449e-01 1.59345410e-02 1.57304329e+02] [-2.53131639e-01 9.67420805e-01 -4.62164275e-03 -2.80713142e+01] [-1.65854838e-02 4.36930777e-04 9.99862356e-01 -3.31046391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:-28.08, Z:-3.31 [[ 9.66897350e-01 2.54684766e-01 1.56583425e-02 1.57331924e+02] [-2.54644597e-01 9.67024047e-01 -4.54116616e-03 -2.80799741e+01] [-1.62985596e-02 4.03529196e-04 9.99867088e-01 -3.31065928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:-28.09, Z:-3.31 [[ 9.66607513e-01 2.55774891e-01 1.57835577e-02 1.57359855e+02] [-2.55734233e-01 9.66736290e-01 -4.57681039e-03 -2.80888249e+01] [-1.64291712e-02 3.87583299e-04 9.99864957e-01 -3.31145534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.39, Y:-28.10, Z:-3.31 [[ 9.66254143e-01 2.57130642e-01 1.53871485e-02 1.57386427e+02] [-2.57092177e-01 9.66376586e-01 -4.46159531e-03 -2.80973154e+01] [-1.60169929e-02 3.55119441e-04 9.99871657e-01 -3.31118369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:-28.11, Z:-3.31 [[ 9.65416552e-01 2.60244244e-01 1.56145507e-02 1.57414721e+02] [-2.60205059e-01 9.65542769e-01 -4.52638495e-03 -2.81060303e+01] [-1.62544822e-02 3.06861869e-04 9.99867840e-01 -3.31221821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:-28.11, Z:-3.31 [[ 9.64938973e-01 2.62009256e-01 1.56182028e-02 1.57442215e+02] [-2.61970288e-01 9.65065321e-01 -4.52710816e-03 -2.81140769e+01] [-1.62587301e-02 2.76878005e-04 9.99867780e-01 -3.31291237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59862385300002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:157.47, Y:-28.12, Z:-3.31 [[ 9.64426823e-01 2.63896426e-01 1.54783520e-02 1.57468614e+02] [-2.63858409e-01 9.64550993e-01 -4.48580057e-03 -2.81215449e+01] [-1.61134465e-02 2.42133064e-04 9.99870141e-01 -3.31342452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:-28.13, Z:-3.31 [[ 9.63949983e-01 2.65614692e-01 1.57881700e-02 1.57495911e+02] [-2.65575387e-01 9.64079244e-01 -4.57444396e-03 -2.81291688e+01] [-1.64360866e-02 2.16585809e-04 9.99864895e-01 -3.31399252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.52, Y:-28.14, Z:-3.31 [[ 9.63041382e-01 2.68888563e-01 1.58188690e-02 1.57523002e+02] [-2.68849559e-01 9.63171280e-01 -4.58254180e-03 -2.81359906e+01] [-1.64684734e-02 1.60281424e-04 9.99864373e-01 -3.31483261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:-28.14, Z:-3.32 [[ 9.62602635e-01 2.70446666e-01 1.59614227e-02 1.57550532e+02] [-2.70407188e-01 9.62734949e-01 -4.62274905e-03 -2.81437588e+01] [-1.66168266e-02 1.33786987e-04 9.99861922e-01 -3.31559565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:-28.15, Z:-3.32 [[ 9.62268070e-01 2.71626306e-01 1.61031741e-02 1.57578062e+02] [-2.71586302e-01 9.62402794e-01 -4.66297549e-03 -2.81510677e+01] [-1.67643265e-02 1.13630917e-04 9.99859462e-01 -3.31605247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.61, Y:-28.16, Z:-3.32 [[ 9.62278117e-01 2.71590695e-01 1.61034119e-02 1.57606257e+02] [-2.71550700e-01 9.62412844e-01 -4.66215390e-03 -2.81591449e+01] [-1.67643281e-02 1.13395891e-04 9.99859462e-01 -3.31661835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.63, Y:-28.17, Z:-3.32 [[ 9.61895586e-01 2.72945709e-01 1.60474900e-02 1.57633347e+02] [-2.72906189e-01 9.62029434e-01 -4.64538845e-03 -2.81666493e+01] [-1.67060966e-02 8.89192899e-05 9.99860439e-01 -3.31702028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:-28.17, Z:-3.32 [[ 9.61562983e-01 2.74118239e-01 1.59944175e-02 1.57659778e+02] [-2.74079161e-01 9.61695995e-01 -4.62896434e-03 -2.81738778e+01] [-1.66506508e-02 6.73042312e-05 9.99861366e-01 -3.31759668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:-28.18, Z:-3.32 [[ 9.60934463e-01 2.76357891e-01 1.52076718e-02 1.57687434e+02] [-2.76322857e-01 9.61054793e-01 -4.40036695e-03 -2.81806933e+01] [-1.58314820e-02 2.62369261e-05 9.99874674e-01 -3.31845955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.71, Y:-28.19, Z:-3.32 [[ 9.60737320e-01 2.77043711e-01 1.51849690e-02 1.57714352e+02] [-2.77008886e-01 9.60857316e-01 -4.39263085e-03 -2.81875214e+01] [-1.58075393e-02 1.37930629e-05 9.99875053e-01 -3.31884481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.898623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.74, Y:-28.19, Z:-3.32 [[ 9.60649562e-01 2.77337466e-01 1.53736691e-02 1.57741762e+02] [-2.77301827e-01 9.60772569e-01 -4.44601024e-03 -2.81941200e+01] [-1.60036448e-02 7.91125699e-06 9.99871933e-01 -3.31964732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.77, Y:-28.20, Z:-3.32 [[ 9.60585334e-01 2.77549829e-01 1.55533829e-02 1.57768787e+02] [-2.77513400e-01 9.60711243e-01 -4.49671460e-03 -2.82008084e+01] [-1.61903722e-02 3.20592452e-06 9.99868927e-01 -3.32053042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:-28.21, Z:-3.32 [[ 9.60723610e-01 2.77046038e-01 1.59886726e-02 1.57795878e+02] [-2.77007489e-01 9.60856645e-01 -4.62152201e-03 -2.82062900e+01] [-1.66431967e-02 1.10232597e-05 9.99861492e-01 -3.32065456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.82, Y:-28.21, Z:-3.32 [[ 9.60974829e-01 2.76179148e-01 1.58888661e-02 1.57822642e+02] [-2.76140980e-01 9.61106174e-01 -4.59147131e-03 -2.82130315e+01] [-1.65389559e-02 2.47213108e-05 9.99863222e-01 -3.32139899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.85, Y:-28.22, Z:-3.32 [[ 9.61259430e-01 2.75199649e-01 1.56672424e-02 1.57849634e+02] [-2.75162427e-01 9.61387098e-01 -4.52625589e-03 -2.82202802e+01] [-1.63079087e-02 3.98697087e-05 9.99867016e-01 -3.32226285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:157.88, Y:-28.23, Z:-3.32 [[ 9.62033899e-01 2.72506884e-01 1.51912676e-02 1.57876368e+02] [-2.72471572e-01 9.62153829e-01 -4.38758809e-03 -2.82277704e+01] [-1.58119843e-02 8.18198957e-05 9.99874979e-01 -3.32324994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.90, Y:-28.24, Z:-3.32 [[ 9.62477048e-01 2.70935529e-01 1.52273203e-02 1.57904411e+02] [-2.70899868e-01 9.62597490e-01 -4.39699596e-03 -2.82355907e+01] [-1.58490827e-02 1.06928630e-04 9.99874390e-01 -3.32414346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.108623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:157.93, Y:-28.24, Z:-3.32 [[ 9.62955661e-01 2.69227898e-01 1.52556386e-02 1.57930789e+02] [-2.69191902e-01 9.63076488e-01 -4.40440818e-03 -2.82434921e+01] [-1.58781364e-02 1.34555413e-04 9.99873925e-01 -3.32490975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.96, Y:-28.25, Z:-3.33 [[ 9.63523940e-01 2.67200789e-01 1.50118550e-02 1.57957700e+02] [-2.67165703e-01 9.63640862e-01 -4.33309839e-03 -2.82514249e+01] [-1.56238442e-02 1.64391233e-04 9.99877927e-01 -3.32528975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.168623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.98, Y:-28.26, Z:-3.33 [[ 9.64616355e-01 2.63219941e-01 1.51838583e-02 1.57984468e+02] [-2.63183572e-01 9.64735824e-01 -4.38158148e-03 -2.82597153e+01] [-1.58017316e-02 2.30403103e-04 9.99875118e-01 -3.32660138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.01, Y:-28.27, Z:-3.33 [[ 9.65111327e-01 2.61393215e-01 1.52877010e-02 1.58011635e+02] [-2.61356136e-01 9.65232365e-01 -4.41034515e-03 -2.82674310e+01] [-1.59090181e-02 2.60939610e-04 9.99873410e-01 -3.32672163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.04, Y:-28.28, Z:-3.33 [[ 9.65517202e-01 2.59889427e-01 1.52976781e-02 1.58039228e+02] [-2.59852126e-01 9.65638341e-01 -4.41222876e-03 -2.82756135e+01] [-1.59187161e-02 2.84948582e-04 9.99873249e-01 -3.32742979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.07, Y:-28.28, Z:-3.33 [[ 9.65881416e-01 2.58531665e-01 1.53123394e-02 1.58066474e+02] [-2.58494135e-01 9.66002735e-01 -4.41568740e-03 -2.82841429e+01] [-1.59333567e-02 3.06880481e-04 9.99873009e-01 -3.32736173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.09, Y:-28.29, Z:-3.33 [[ 9.66303496e-01 2.56937051e-01 1.55211118e-02 1.58092227e+02] [-2.56898297e-01 9.66428082e-01 -4.47512897e-03 -2.82935079e+01] [-1.61498647e-02 3.36985593e-04 9.99869526e-01 -3.32786126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.12, Y:-28.30, Z:-3.33 [[ 9.66411267e-01 2.56521295e-01 1.56872209e-02 1.58119314e+02] [-2.56481668e-01 9.66538517e-01 -4.52202480e-03 -2.83016770e+01] [-1.63222989e-02 3.46651138e-04 9.99866722e-01 -3.32827429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.15, Y:-28.31, Z:-3.33 [[ 9.66405619e-01 2.56546471e-01 1.56232828e-02 1.58146577e+02] [-2.56507186e-01 9.66531836e-01 -4.50258662e-03 -2.83094688e+01] [-1.62555230e-02 3.43840687e-04 9.99867811e-01 -3.32874028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.17, Y:-28.32, Z:-3.33 [[ 9.66147982e-01 2.57507013e-01 1.57548173e-02 1.58173076e+02] [-2.57467205e-01 9.66276373e-01 -4.53972593e-03 -2.83175419e+01] [-1.63925190e-02 3.29698282e-04 9.99865579e-01 -3.32946506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.20, Y:-28.33, Z:-3.33 [[ 9.65957074e-01 2.58240074e-01 1.54594941e-02 1.58200092e+02] [-2.58201853e-01 9.66080725e-01 -4.45371695e-03 -2.83258227e+01] [-1.60852474e-02 3.10429379e-04 9.99870576e-01 -3.32992965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.23, Y:-28.33, Z:-3.33 [[ 9.65947125e-01 2.58289975e-01 1.52459748e-02 1.58225568e+02] [-2.58252824e-01 9.66067387e-01 -4.39122020e-03 -2.83331325e+01] [-1.58628472e-02 3.04370469e-04 9.99874131e-01 -3.33093465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.25, Y:-28.34, Z:-3.33 [[ 9.65952142e-01 2.58296952e-01 1.48035183e-02 1.58252671e+02] [-2.58261952e-01 9.66065525e-01 -4.26213257e-03 -2.83409926e+01] [-1.54020646e-02 2.93830534e-04 9.99881338e-01 -3.33173294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.28, Y:-28.35, Z:-3.33 [[ 9.66109399e-01 2.57754477e-01 1.39734873e-02 1.58279410e+02] [-2.57723246e-01 9.66210406e-01 -4.02238427e-03 -2.83498681e+01] [-1.45381164e-02 2.84770752e-04 9.99894275e-01 -3.33243545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.31, Y:-28.36, Z:-3.33 [[ 9.66228868e-01 2.57283953e-01 1.43785447e-02 1.58306463e+02] [-2.57250848e-01 9.66335800e-01 -4.13807246e-03 -2.83588609e+01] [-1.49591622e-02 2.99432248e-04 9.99888061e-01 -3.33324207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.33, Y:-28.37, Z:-3.33 [[ 9.66300766e-01 2.56994564e-01 1.47181504e-02 1.58332913e+02] [-2.56959854e-01 9.66412799e-01 -4.23506516e-03 -2.83677813e+01] [-1.53121976e-02 3.10372936e-04 9.99882713e-01 -3.33351733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.36, Y:-28.38, Z:-3.33 [[ 9.66399543e-01 2.56590446e-01 1.52730663e-02 1.58360592e+02] [-2.56553037e-01 9.66520168e-01 -4.39361151e-03 -2.83767141e+01] [-1.58890854e-02 3.27632603e-04 9.99873707e-01 -3.33386390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.39, Y:-28.39, Z:-3.33 [[ 9.66500949e-01 2.56162216e-01 1.60260759e-02 1.58386973e+02] [-2.56120981e-01 9.66633745e-01 -4.60938814e-03 -2.83873140e+01] [-1.66720968e-02 3.50363738e-04 9.99860950e-01 -3.33405427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.41, Y:-28.40, Z:-3.33 [[ 9.66565323e-01 2.55901494e-01 1.63064943e-02 1.58414186e+02] [-2.55858785e-01 9.66702796e-01 -4.68894621e-03 -2.83971265e+01] [-1.69634419e-02 3.60012995e-04 9.99856046e-01 -3.33491910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.44, Y:-28.41, Z:-3.34 [[ 9.66681129e-01 2.55495736e-01 1.57962938e-02 1.58441736e+02] [-2.55455617e-01 9.66810117e-01 -4.54142424e-03 -2.84068275e+01] [-1.64323312e-02 3.54857116e-04 9.99864917e-01 -3.33525717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:-28.42, Z:-3.34 [[ 9.66758474e-01 2.55217011e-01 1.55669935e-02 1.58468028e+02] [-2.55178021e-01 9.66883733e-01 -4.47498937e-03 -2.84163946e+01] [-1.61935662e-02 3.53879308e-04 9.99868813e-01 -3.33607502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.50, Y:-28.43, Z:-3.34 [[ 9.66854884e-01 2.54854900e-01 1.55117390e-02 1.58495814e+02] [-2.54816157e-01 9.66979241e-01 -4.45802620e-03 -2.84260725e+01] [-1.61356794e-02 3.57622694e-04 9.99869747e-01 -3.33672749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:-28.44, Z:-3.34 [[ 9.66857981e-01 2.54827562e-01 1.57657359e-02 1.58523050e+02] [-2.54787544e-01 9.66986443e-01 -4.53057845e-03 -2.84383961e+01] [-1.63997692e-02 3.63512795e-04 9.99865449e-01 -3.33780646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.55, Y:-28.45, Z:-3.34 [[ 9.66786696e-01 2.55098539e-01 1.57550030e-02 1.58551401e+02] [-2.55058615e-01 9.66914995e-01 -4.52725903e-03 -2.84488030e+01] [-1.63886458e-02 3.58444559e-04 9.99865633e-01 -3.33829497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.58, Y:-28.46, Z:-3.34 [[ 9.66692375e-01 2.55467656e-01 1.55604647e-02 1.58579010e+02] [-2.55428759e-01 9.66817540e-01 -4.47139548e-03 -2.84587235e+01] [-1.61864271e-02 3.47873726e-04 9.99868931e-01 -3.33910020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.858623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.61, Y:-28.47, Z:-3.34 [[ 9.66534028e-01 2.56083548e-01 1.52705297e-02 1.58608556e+02] [-2.56046169e-01 9.66654595e-01 -4.38776514e-03 -2.84688672e+01] [-1.58849621e-02 3.30963700e-04 9.99873771e-01 -3.33986365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.64, Y:-28.48, Z:-3.34 [[ 9.66012939e-01 2.58078424e-01 1.46468238e-02 1.58637155e+02] [-2.58044259e-01 9.66123928e-01 -4.20896627e-03 -2.84802033e+01] [-1.52368904e-02 2.86387068e-04 9.99883871e-01 -3.34095790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:158.66, Y:-28.49, Z:-3.34 [[ 9.65792974e-01 2.58891730e-01 1.47987967e-02 1.58664786e+02] [-2.58856941e-01 9.65906308e-01 -4.25306300e-03 -2.84899936e+01] [-1.53953340e-02 2.76807106e-04 9.99881447e-01 -3.34168641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:-28.50, Z:-3.34 [[ 9.65527573e-01 2.59877662e-01 1.48359912e-02 1.58692005e+02] [-2.59842827e-01 9.65641513e-01 -4.26294128e-03 -2.85001037e+01] [-1.54340922e-02 2.60961457e-04 9.99880853e-01 -3.34193043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.72, Y:-28.51, Z:-3.34 [[ 9.65040693e-01 2.61640130e-01 1.55210499e-02 1.58719984e+02] [-2.61602239e-01 9.65165469e-01 -4.45928087e-03 -2.85126641e+01] [-1.61471082e-02 2.43046101e-04 9.99869597e-01 -3.34266650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.75, Y:-28.52, Z:-3.34 [[ 9.64795741e-01 2.62565258e-01 1.51216429e-02 1.58748874e+02] [-2.62529407e-01 9.64914212e-01 -4.34448513e-03 -2.85225543e+01] [-1.57317990e-02 2.21664815e-04 9.99876223e-01 -3.34298837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.78, Y:-28.53, Z:-3.34 [[ 9.64592303e-01 2.63322987e-01 1.49229341e-02 1.58776281e+02] [-2.63288156e-01 9.64707708e-01 -4.28776466e-03 -2.85316907e+01] [-1.55253366e-02 2.06912970e-04 9.99879453e-01 -3.34382075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:-28.54, Z:-3.35 [[ 9.64412948e-01 2.63986550e-01 1.47907992e-02 1.58805569e+02] [-2.63952422e-01 9.64526342e-01 -4.24911884e-03 -2.85417251e+01] [-1.53878257e-02 1.93837963e-04 9.99881582e-01 -3.34507035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.83, Y:-28.55, Z:-3.35 [[ 9.64273837e-01 2.64508380e-01 1.45356075e-02 1.58833753e+02] [-2.64475479e-01 9.64383370e-01 -4.17575634e-03 -2.85534375e+01] [-1.51224207e-02 1.82260827e-04 9.99885633e-01 -3.34616588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:-28.56, Z:-3.35 [[ 9.64224043e-01 2.64694588e-01 1.44488802e-02 1.58862855e+02] [-2.64662098e-01 9.64332279e-01 -4.15097092e-03 -2.85640095e+01] [-1.50322611e-02 1.78395023e-04 9.99886993e-01 -3.34657707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.89, Y:-28.57, Z:-3.35 [[ 9.64144270e-01 2.64986465e-01 1.44222266e-02 1.58891750e+02] [-2.64954122e-01 9.64252116e-01 -4.14373114e-03 -2.85747045e+01] [-1.50046952e-02 1.73926239e-04 9.99887408e-01 -3.34724678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.92, Y:-28.59, Z:-3.35 [[ 9.64147605e-01 2.64988864e-01 1.41526867e-02 1.58921252e+02] [-2.64957716e-01 9.64251457e-01 -4.06640773e-03 -2.85852345e+01] [-1.47243016e-02 1.70753709e-04 9.99891577e-01 -3.34784788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:158.95, Y:-28.60, Z:-3.34 [[ 9.64062487e-01 2.65317066e-01 1.37976479e-02 1.58949401e+02] [-2.65287490e-01 9.64161204e-01 -3.96479124e-03 -2.85956767e+01] [-1.43550836e-02 1.61963125e-04 9.99896947e-01 -3.34336340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:-28.61, Z:-3.35 [[ 9.63927241e-01 2.65778808e-01 1.43491622e-02 1.58977469e+02] [-2.65746869e-01 9.64034024e-01 -4.12346034e-03 -2.86062484e+01] [-1.49290090e-02 1.61470816e-04 9.99888543e-01 -3.34925602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.278623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:159.01, Y:-28.62, Z:-3.34 [[ 9.63640233e-01 2.66833973e-01 1.40403757e-02 1.59007829e+02] [-2.66803513e-01 9.63742502e-01 -4.03415686e-03 -2.86178485e+01] [-1.46077569e-02 1.41454295e-04 9.99893291e-01 -3.34236913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.04, Y:-28.63, Z:-3.35 [[ 9.63567169e-01 2.67080189e-01 1.43695534e-02 1.59036550e+02] [-2.67048272e-01 9.63674298e-01 -4.13140569e-03 -2.86292308e+01] [-1.49509859e-02 1.43522465e-04 9.99888217e-01 -3.35091327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.338623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.07, Y:-28.64, Z:-3.35 [[ 9.63445012e-01 2.67546010e-01 1.38866909e-02 1.59067569e+02] [-2.67516220e-01 9.63545076e-01 -3.99467033e-03 -2.86393930e+01] [-1.44492107e-02 1.33730150e-04 9.99895596e-01 -3.34565505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.10, Y:-28.65, Z:-3.35 [[ 9.63352300e-01 2.67867082e-01 1.41270035e-02 1.59096187e+02] [-2.67836249e-01 9.63455867e-01 -4.06638847e-03 -2.86506173e+01] [-1.46999961e-02 1.33641051e-04 9.99891940e-01 -3.35238486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.13, Y:-28.66, Z:-3.35 [[ 9.63126720e-01 2.68659304e-01 1.44602691e-02 1.59126518e+02] [-2.68627054e-01 9.63235258e-01 -4.16457142e-03 -2.86631698e+01] [-1.50474919e-02 1.26590525e-04 9.99886772e-01 -3.35348567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.16, Y:-28.67, Z:-3.35 [[ 9.62983090e-01 2.69192188e-01 1.41114896e-02 1.59157292e+02] [-2.69161492e-01 9.63086472e-01 -4.06688443e-03 -2.86745305e+01] [-1.46853582e-02 1.18071363e-04 9.99892157e-01 -3.35382027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.458623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:159.19, Y:-28.69, Z:-3.35 [[ 9.62848727e-01 2.69684836e-01 1.38714620e-02 1.59188157e+02] [-2.69655187e-01 9.62948637e-01 -4.00044429e-03 -2.86856795e+01] [-1.44363645e-02 1.11311032e-04 9.99895784e-01 -3.35486853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:159.22, Y:-28.70, Z:-3.35 [[ 9.62697530e-01 2.70249787e-01 1.33610449e-02 1.59219966e+02] [-2.70222298e-01 9.62790238e-01 -3.85579112e-03 -2.86954280e+01] [-1.39059103e-02 1.01508331e-04 9.99903303e-01 -3.34723467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.25, Y:-28.71, Z:-3.36 [[ 9.62608058e-01 2.70540150e-01 1.39195774e-02 1.59249230e+02] [-2.70510302e-01 9.62708687e-01 -4.01995674e-03 -2.87083864e+01] [-1.44880578e-02 1.04253658e-04 9.99895037e-01 -3.35595163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.548623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.28, Y:-28.72, Z:-3.36 [[ 9.62546174e-01 2.70749182e-01 1.41330837e-02 1.59279377e+02] [-2.70718394e-01 9.62649920e-01 -4.08430273e-03 -2.87195434e+01] [-1.47110335e-02 1.05244251e-04 9.99891781e-01 -3.35702129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:-28.73, Z:-3.36 [[ 9.62582997e-01 2.70612680e-01 1.42390816e-02 1.59310543e+02] [-2.70581376e-01 9.62688301e-01 -4.11753897e-03 -2.87311146e+01] [-1.48220556e-02 1.10642701e-04 9.99890141e-01 -3.35749311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:-28.74, Z:-3.36 [[ 9.62557525e-01 2.70718106e-01 1.39541361e-02 1.59340840e+02] [-2.70688013e-01 9.62658660e-01 -4.03787684e-03 -2.87425798e+01] [-1.45261963e-02 1.09471348e-04 9.99894483e-01 -3.35786042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.37, Y:-28.75, Z:-3.36 [[ 9.62522320e-01 2.70843287e-01 1.39534012e-02 1.59372953e+02] [-2.70813170e-01 9.62623448e-01 -4.04041467e-03 -2.87520590e+01] [-1.45261903e-02 1.10224493e-04 9.99894483e-01 -3.35850714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.668623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.40, Y:-28.76, Z:-3.36 [[ 9.62338342e-01 2.71500104e-01 1.38783630e-02 1.59403073e+02] [-2.71470350e-01 9.62438405e-01 -4.02071758e-03 -2.87647023e+01] [-1.44486948e-02 1.01726627e-04 9.99895607e-01 -3.35895652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.43, Y:-28.78, Z:-3.36 [[ 9.62121506e-01 2.72262167e-01 1.39828369e-02 1.59432978e+02] [-2.72232022e-01 9.62223105e-01 -4.05243323e-03 -2.87751373e+01] [-1.45579330e-02 9.23571931e-05 9.99894023e-01 -3.35959701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.46, Y:-28.79, Z:-3.36 [[ 9.61884442e-01 2.73093781e-01 1.40750930e-02 1.59463860e+02] [-2.73063289e-01 9.61987412e-01 -4.08169518e-03 -2.87856149e+01] [-1.46547478e-02 8.27279129e-05 9.99892610e-01 -3.36055358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.49, Y:-28.80, Z:-3.36 [[ 9.61251360e-01 2.75317263e-01 1.40081269e-02 1.59494069e+02] [-2.75287256e-01 9.61353422e-01 -4.06501243e-03 -2.87965447e+01] [-1.45859288e-02 5.12399021e-05 9.99893618e-01 -3.36122139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.53, Y:-28.81, Z:-3.36 [[ 9.60890574e-01 2.76591067e-01 1.36633296e-02 1.59525561e+02] [-2.76562616e-01 9.60987711e-01 -3.96720826e-03 -2.88058491e+01] [-1.42275862e-02 3.32868477e-05 9.99898782e-01 -3.35544710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.56, Y:-28.82, Z:-3.36 [[ 9.60596245e-01 2.77594280e-01 1.40096305e-02 1.59555893e+02] [-2.77564427e-01 9.60698400e-01 -4.07105636e-03 -2.88166361e+01] [-1.45891315e-02 2.20664082e-05 9.99893573e-01 -3.36213882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.59, Y:-28.83, Z:-3.36 [[ 9.60287972e-01 2.78651520e-01 1.41542124e-02 1.59587079e+02] [-2.78621141e-01 9.60392279e-01 -4.11455193e-03 -2.88271709e+01] [-1.47401225e-02 7.49191727e-06 9.99891358e-01 -3.36274063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.62, Y:-28.84, Z:-3.36 [[ 9.59993704e-01 2.79652855e-01 1.43655703e-02 1.59618325e+02] [-2.79621629e-01 9.60101182e-01 -4.17897548e-03 -2.88374618e+01] [-1.49610635e-02 -5.13403890e-06 9.99888077e-01 -3.36316284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.65, Y:-28.85, Z:-3.36 [[ 9.59570325e-01 2.81098635e-01 1.44342903e-02 1.59649757e+02] [-2.81067229e-01 9.59678882e-01 -4.20196397e-03 -2.88480358e+01] [-1.50334500e-02 -2.49260481e-05 9.99886991e-01 -3.36433187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.68, Y:-28.86, Z:-3.36 [[ 9.59327615e-01 2.81949533e-01 1.39638060e-02 1.59680376e+02] [-2.81920188e-01 9.59429236e-01 -4.06787227e-03 -2.88578966e+01] [-1.45442184e-02 -3.42566042e-05 9.99894227e-01 -3.36490955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.71, Y:-28.87, Z:-3.37 [[ 9.59143358e-01 2.82579911e-01 1.38784815e-02 1.59712311e+02] [-2.82550952e-01 9.59243761e-01 -4.04568699e-03 -2.88676440e+01] [-1.44560766e-02 -4.09843476e-05 9.99895505e-01 -3.36633039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.998623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.74, Y:-28.88, Z:-3.37 [[ 9.58889083e-01 2.83460660e-01 1.34826264e-02 1.59742715e+02] [-2.83433378e-01 9.58983864e-01 -3.93299229e-03 -2.88770011e+01] [-1.40444698e-02 -5.01229813e-05 9.99901370e-01 -3.36675274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:-28.89, Z:-3.37 [[ 9.58266899e-01 2.85572714e-01 1.31443875e-02 1.59773567e+02] [-2.85546949e-01 9.58357041e-01 -3.83675952e-03 -2.88858413e+01] [-1.36926901e-02 -7.67000871e-05 9.99906248e-01 -3.36745366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:-28.89, Z:-3.37 [[ 9.57952032e-01 2.86623654e-01 1.32206099e-02 1.59805616e+02] [-2.86597657e-01 9.58043252e-01 -3.86136974e-03 -2.88948504e+01] [-1.37726760e-02 -8.99888404e-05 9.99905148e-01 -3.36796105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.84, Y:-28.90, Z:-3.37 [[ 9.57628545e-01 2.87683409e-01 1.36318217e-02 1.59837152e+02] [-2.87655836e-01 9.57725558e-01 -3.98435280e-03 -2.89037873e+01] [-1.42017762e-02 -1.05743095e-04 9.99899144e-01 -3.36842120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.87, Y:-28.91, Z:-3.37 [[ 9.57316667e-01 2.88702968e-01 1.39783534e-02 1.59867768e+02] [-2.88674041e-01 9.57418707e-01 -4.08862019e-03 -2.89123848e+01] [-1.45635338e-02 -1.21083501e-04 9.99893939e-01 -3.36823908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.90, Y:-28.92, Z:-3.36 [[ 9.56891406e-01 2.90087539e-01 1.44242086e-02 1.59899761e+02] [-2.90056852e-01 9.57000104e-01 -4.22177144e-03 -2.89195942e+01] [-1.50286524e-02 -1.44063722e-04 9.99887053e-01 -3.36333142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.93, Y:-28.93, Z:-3.37 [[ 9.56726840e-01 2.90600077e-01 1.50116039e-02 1.59930421e+02] [-2.90566847e-01 9.56844591e-01 -4.39724959e-03 -2.89287625e+01] [-1.56416131e-02 -1.54907725e-04 9.99877650e-01 -3.36925140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.96, Y:-28.94, Z:-3.37 [[ 9.56602185e-01 2.91006598e-01 1.50804264e-02 1.59962508e+02] [-2.90973087e-01 9.56721032e-01 -4.41912419e-03 -2.89378060e+01] [-1.57137554e-02 -1.60654358e-04 9.99876518e-01 -3.36964988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:159.99, Y:-28.95, Z:-3.37 [[ 9.56596989e-01 2.91026986e-01 1.50164826e-02 1.59994967e+02] [-2.90993713e-01 9.56714831e-01 -4.40343351e-03 -2.89458461e+01] [-1.56480096e-02 -1.57390782e-04 9.99877550e-01 -3.37057231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:-28.95, Z:-3.37 [[ 9.56646615e-01 2.90887898e-01 1.45425422e-02 1.60027126e+02] [-2.90856633e-01 9.56757132e-01 -4.26727865e-03 -2.89549657e+01] [-1.51549806e-02 -1.47517170e-04 9.99885146e-01 -3.37113254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.06, Y:-28.96, Z:-3.37 [[ 9.56764086e-01 2.90511214e-01 1.43428855e-02 1.60057688e+02] [-2.90480715e-01 9.56871578e-01 -4.21170570e-03 -2.89634389e+01] [-1.49478472e-02 -1.36722879e-04 9.99888265e-01 -3.37170902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.09, Y:-28.97, Z:-3.37 [[ 9.56986855e-01 2.89773780e-01 1.43984441e-02 1.60088879e+02] [-2.89742918e-01 9.57095158e-01 -4.23085801e-03 -2.89713793e+01] [-1.50066729e-02 -1.22971717e-04 9.99887386e-01 -3.37238606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.12, Y:-28.98, Z:-3.37 [[ 9.57189993e-01 2.89103862e-01 1.43622732e-02 1.60120905e+02] [-2.89073040e-01 9.57297730e-01 -4.22292270e-03 -2.89800064e+01] [-1.49698348e-02 -1.09606627e-04 9.99887940e-01 -3.37285656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.15, Y:-28.99, Z:-3.37 [[ 9.57868024e-01 2.86832629e-01 1.46932704e-02 1.60151437e+02] [-2.86800053e-01 9.57980708e-01 -4.32337639e-03 -2.89883989e+01] [-1.53159550e-02 -7.28067466e-05 9.99882701e-01 -3.37281318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:-29.00, Z:-3.37 [[ 9.58223837e-01 2.85618054e-01 1.51461273e-02 1.60182003e+02] [-2.85583241e-01 9.58343531e-01 -4.45963384e-03 -2.89969683e+01] [-1.57889451e-02 -5.21526742e-05 9.99875345e-01 -3.37340132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.21, Y:-29.00, Z:-3.37 [[ 9.58904057e-01 2.83334685e-01 1.49821985e-02 1.60213456e+02] [-2.83300299e-01 9.59021093e-01 -4.41413714e-03 -2.90042638e+01] [-1.56189226e-02 -1.17273084e-05 9.99878017e-01 -3.37440728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:-29.01, Z:-3.38 [[ 9.59239833e-01 2.82196665e-01 1.49661078e-02 1.60245608e+02] [-2.82162172e-01 9.59356577e-01 -4.41210977e-03 -2.90132688e+01] [-1.56029167e-02 9.40194989e-06 9.99878267e-01 -3.37518936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:-29.02, Z:-3.38 [[ 9.59514327e-01 2.81253510e-01 1.51234436e-02 1.60276419e+02] [-2.81218120e-01 9.59633504e-01 -4.46170354e-03 -2.90220470e+01] [-1.57678329e-02 2.80821014e-05 9.99875680e-01 -3.37572128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.31, Y:-29.03, Z:-3.38 [[ 9.59799242e-01 2.80267638e-01 1.53448869e-02 1.60307137e+02] [-2.80231030e-01 9.59921897e-01 -4.53007284e-03 -2.90306863e+01] [-1.59995257e-02 4.78470262e-05 9.99871998e-01 -3.37640087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.34, Y:-29.04, Z:-3.38 [[ 9.60180484e-01 2.78960207e-01 1.53179776e-02 1.60338806e+02] [-2.78923516e-01 9.60302659e-01 -4.52491472e-03 -2.90397290e+01] [-1.59721658e-02 7.21906422e-05 9.99872434e-01 -3.37667255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.37, Y:-29.05, Z:-3.38 [[ 9.60371550e-01 2.78279513e-01 1.57161711e-02 1.60369845e+02] [-2.78240744e-01 9.60500133e-01 -4.64580179e-03 -2.90489921e+01] [-1.63882159e-02 8.88167264e-05 9.99865700e-01 -3.37729135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:-29.06, Z:-3.38 [[ 9.60434567e-01 2.78067244e-01 1.56220838e-02 1.60401118e+02] [-2.78028864e-01 9.60561606e-01 -4.62083598e-03 -2.90584481e+01] [-1.62908770e-02 9.46203967e-05 9.99867290e-01 -3.37766549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.43, Y:-29.07, Z:-3.38 [[ 9.60506266e-01 2.77822287e-01 1.55720771e-02 1.60432581e+02] [-2.77784070e-01 9.60632483e-01 -4.60909163e-03 -2.90672997e+01] [-1.62395514e-02 1.01386447e-04 9.99868125e-01 -3.37822550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.46, Y:-29.08, Z:-3.38 [[ 9.60575597e-01 2.77565460e-01 1.58725452e-02 1.60463946e+02] [-2.77525663e-01 9.60706721e-01 -4.70139787e-03 -2.90754118e+01] [-1.65538065e-02 1.11009429e-04 9.99862970e-01 -3.37904357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.49, Y:-29.08, Z:-3.38 [[ 9.60585978e-01 2.77538550e-01 1.57140719e-02 1.60494609e+02] [-2.77499492e-01 9.60714495e-01 -4.65742667e-03 -2.90844475e+01] [-1.63893521e-02 1.13211791e-04 9.99865679e-01 -3.37957520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.53, Y:-29.09, Z:-3.38 [[ 9.60600986e-01 2.77509878e-01 1.52975210e-02 1.60525353e+02] [-2.77472814e-01 9.60722777e-01 -4.53679115e-03 -2.90934704e+01] [-1.59556812e-02 1.13399853e-04 9.99872694e-01 -3.38037510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.56, Y:-29.10, Z:-3.38 [[ 9.60571436e-01 2.77652841e-01 1.45401456e-02 1.60557496e+02] [-2.77619335e-01 9.60681471e-01 -4.31466481e-03 -2.91027900e+01] [-1.51664274e-02 1.07918217e-04 9.99884977e-01 -3.38126057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.59, Y:-29.11, Z:-3.38 [[ 9.60425613e-01 2.78138981e-01 1.48778182e-02 1.60588120e+02] [-2.78103910e-01 9.60540835e-01 -4.41807911e-03 -2.91121685e+01] [-1.55195919e-02 1.05656924e-04 9.99879558e-01 -3.38163518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.62, Y:-29.12, Z:-3.38 [[ 9.60331984e-01 2.78446685e-01 1.51632267e-02 1.60619660e+02] [-2.78410247e-01 9.60451682e-01 -4.50575401e-03 -2.91218452e+01] [-1.58181588e-02 1.05422010e-04 9.99874880e-01 -3.38183996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.65, Y:-29.13, Z:-3.38 [[ 9.60224496e-01 2.78809094e-01 1.53103450e-02 1.60650449e+02] [-2.78771936e-01 9.60346541e-01 -4.55300485e-03 -2.91310346e+01] [-1.59726560e-02 1.03812271e-04 9.99872424e-01 -3.38213226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.68, Y:-29.14, Z:-3.38 [[ 9.59733808e-01 2.80448179e-01 1.61194471e-02 1.60681662e+02] [-2.80407184e-01 9.59869164e-01 -4.79571457e-03 -2.91400371e+01] [-1.68175096e-02 8.26006349e-05 9.99858572e-01 -3.38230454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.71, Y:-29.15, Z:-3.38 [[ 9.59384216e-01 2.81637682e-01 1.61908220e-02 1.60712588e+02] [-2.81596439e-01 9.59520824e-01 -4.82013967e-03 -2.91487916e+01] [-1.68929638e-02 6.50881010e-05 9.99857302e-01 -3.38292698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:160.74, Y:-29.16, Z:-3.38 [[ 9.58949726e-01 2.83109686e-01 1.62581606e-02 1.60744002e+02] [-2.83068258e-01 9.59087537e-01 -4.84330689e-03 -2.91577289e+01] [-1.69641863e-02 4.23186193e-05 9.99856097e-01 -3.38395179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.78, Y:-29.17, Z:-3.38 [[ 9.58433360e-01 2.84879227e-01 1.57899215e-02 1.60775365e+02] [-2.84840337e-01 9.58563418e-01 -4.70706605e-03 -2.91655798e+01] [-1.64765864e-02 1.38025765e-05 9.99864252e-01 -3.37920424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.81, Y:-29.17, Z:-3.38 [[ 9.57257886e-01 2.88768754e-01 1.64300387e-02 1.60806102e+02] [-2.88727162e-01 9.57398874e-01 -4.90125634e-03 -2.91745084e+01] [-1.71454302e-02 -5.20321543e-05 9.99853005e-01 -3.38495008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:-29.18, Z:-3.39 [[ 9.56602280e-01 2.90924599e-01 1.65817662e-02 1.60837382e+02] [-2.90882503e-01 9.56745980e-01 -4.94973919e-03 -2.91834768e+01] [-1.73045391e-02 -8.84138625e-05 9.99850261e-01 -3.38541040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:-29.19, Z:-3.39 [[ 9.55949180e-01 2.93070406e-01 1.64591041e-02 1.60868619e+02] [-2.93029189e-01 9.56090855e-01 -4.91651488e-03 -2.91920172e+01] [-1.71772839e-02 -1.23059545e-04 9.99852452e-01 -3.38571688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.90, Y:-29.20, Z:-3.39 [[ 9.55405737e-01 2.94847683e-01 1.62702447e-02 1.60900126e+02] [-2.94807612e-01 9.55544254e-01 -4.86321937e-03 -2.91998127e+01] [-1.69808478e-02 -1.50244301e-04 9.99855804e-01 -3.38667810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.93, Y:-29.21, Z:-3.39 [[ 9.54471401e-01 2.97893821e-01 1.56082307e-02 1.60932637e+02] [-2.97857310e-01 9.54598991e-01 -4.66788200e-03 -2.92068182e+01] [-1.62901345e-02 -1.93665739e-04 9.99867288e-01 -3.38807834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:-29.21, Z:-3.39 [[ 9.54091062e-01 2.99124520e-01 1.53220835e-02 1.60962282e+02] [-2.99089443e-01 9.54214063e-01 -4.58553417e-03 -2.92147132e+01] [-1.59921933e-02 -2.07656258e-04 9.99872095e-01 -3.38809757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.99, Y:-29.22, Z:-3.39 [[ 9.53786118e-01 3.00088214e-01 1.54630207e-02 1.60993770e+02] [-3.00052573e-01 9.53911429e-01 -4.63028710e-03 -2.92226010e+01] [-1.61398468e-02 -2.23415581e-04 9.99869719e-01 -3.38857093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.02, Y:-29.23, Z:-3.39 [[ 9.53585911e-01 3.00721685e-01 1.55041534e-02 1.61023297e+02] [-3.00685884e-01 9.53711914e-01 -4.64589177e-03 -2.92298693e+01] [-1.61836162e-02 -2.31623140e-04 9.99869010e-01 -3.38889335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.05, Y:-29.23, Z:-3.39 [[ 9.53468766e-01 3.01064128e-01 1.60531437e-02 1.61053630e+02] [-3.01025792e-01 9.53603864e-01 -4.81064472e-03 -2.92348994e+01] [-1.67566524e-02 -2.45610825e-04 9.99859567e-01 -3.38961611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:-29.24, Z:-3.39 [[ 9.53414837e-01 3.01217452e-01 1.63766594e-02 1.61082065e+02] [-3.01177577e-01 9.53555443e-01 -4.90763955e-03 -2.92414909e+01] [-1.70943194e-02 -2.53266241e-04 9.99853849e-01 -3.39038974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.11, Y:-29.25, Z:-3.39 [[ 9.53415634e-01 3.01209854e-01 1.64697653e-02 1.61111597e+02] [-3.01169531e-01 9.53557842e-01 -4.93509031e-03 -2.92477721e+01] [-1.71913717e-02 -2.54999248e-04 9.99852185e-01 -3.39064063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.14, Y:-29.25, Z:-3.39 [[ 9.53461516e-01 3.01071430e-01 1.63441753e-02 1.61140338e+02] [-3.01031705e-01 9.53601558e-01 -4.89707758e-03 -2.92515321e+01] [-1.70602012e-02 -2.50939935e-04 9.99854433e-01 -3.39136106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.17, Y:-29.26, Z:-3.39 [[ 9.53511900e-01 3.00913989e-01 1.63042325e-02 1.61168712e+02] [-3.00874445e-01 9.53651252e-01 -4.88452685e-03 -2.92578202e+01] [-1.70183742e-02 -2.48072426e-04 9.99855146e-01 -3.39207631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.20, Y:-29.26, Z:-3.39 [[ 9.53504619e-01 3.00950332e-01 1.60573710e-02 1.61196924e+02] [-3.00911995e-01 9.53639784e-01 -4.80979661e-03 -2.92643404e+01] [-1.67604577e-02 -2.45692268e-04 9.99859503e-01 -3.39275404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:161.23, Y:-29.27, Z:-3.39 [[ 9.53585351e-01 3.00722572e-01 1.55213907e-02 1.61225406e+02] [-3.00686733e-01 9.53711633e-01 -4.64851243e-03 -2.92700989e+01] [-1.62008435e-02 -2.34322922e-04 9.99868730e-01 -3.39312746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:161.25, Y:-29.27, Z:-3.39 [[ 9.53743404e-01 3.00254925e-01 1.48491933e-02 1.61254777e+02] [-3.00222078e-01 9.53858969e-01 -4.44650448e-03 -2.92716587e+01] [-1.54991211e-02 -2.17231332e-04 9.99879858e-01 -3.38834514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:-29.28, Z:-3.39 [[ 9.53928889e-01 2.99657021e-01 1.50114925e-02 1.61281814e+02] [-2.99623388e-01 9.54046972e-01 -4.49439566e-03 -2.92776262e+01] [-1.56684461e-02 -2.10460373e-04 9.99877220e-01 -3.39432815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.31, Y:-29.29, Z:-3.39 [[ 9.53939006e-01 2.99624799e-01 1.50117689e-02 1.61309936e+02] [-2.99591177e-01 9.54057092e-01 -4.49347202e-03 -2.92859565e+01] [-1.56684403e-02 -2.10895288e-04 9.99877220e-01 -3.39489399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.34, Y:-29.29, Z:-3.40 [[ 9.54158183e-01 2.98917249e-01 1.51868055e-02 1.61337756e+02] [-2.98882757e-01 9.54279014e-01 -4.54537897e-03 -2.92914224e+01] [-1.58511420e-02 -2.02063760e-04 9.99874342e-01 -3.39559870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:161.37, Y:-29.30, Z:-3.39 [[ 9.54463939e-01 2.97945082e-01 1.50770372e-02 1.61366981e+02] [-2.97910980e-01 9.54582995e-01 -4.51157127e-03 -2.92965176e+01] [-1.57364838e-02 -1.85482833e-04 9.99876157e-01 -3.38906454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.39, Y:-29.30, Z:-3.40 [[ 9.55290910e-01 2.95270466e-01 1.53176191e-02 1.61394701e+02] [-2.95234935e-01 9.55413696e-01 -4.58284079e-03 -2.93019663e+01] [-1.59878406e-02 -1.44350129e-04 9.99872176e-01 -3.39709162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.42, Y:-29.31, Z:-3.40 [[ 9.55842441e-01 2.93484404e-01 1.52358790e-02 1.61422115e+02] [-2.93449038e-01 9.55963855e-01 -4.55750679e-03 -2.93079788e+01] [-1.59025068e-02 -1.14695627e-04 9.99873541e-01 -3.39749499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.45, Y:-29.31, Z:-3.40 [[ 9.56397291e-01 2.91675912e-01 1.51454563e-02 1.61449850e+02] [-2.91640754e-01 9.56517201e-01 -4.52937577e-03 -2.93139844e+01] [-1.58079993e-02 -8.51495868e-05 9.99875042e-01 -3.39798378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.48, Y:-29.32, Z:-3.40 [[ 9.57488429e-01 2.88081212e-01 1.50040976e-02 1.61476757e+02] [-2.88046282e-01 9.57605981e-01 -4.48607377e-03 -2.93178082e+01] [-1.56603672e-02 -2.65108018e-05 9.99877369e-01 -3.39874665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.738623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:161.50, Y:-29.32, Z:-3.40 [[ 9.58059815e-01 2.86192706e-01 1.46671658e-02 1.61503734e+02] [-2.86159124e-01 9.58172080e-01 -4.38409135e-03 -2.93241249e+01] [-1.53083637e-02 3.07843928e-06 9.99882820e-01 -3.39936708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.53, Y:-29.33, Z:-3.40 [[ 9.58631180e-01 2.84294049e-01 1.42532457e-02 1.61529713e+02] [-2.84262139e-01 9.58737134e-01 -4.25955719e-03 -2.93303026e+01] [-1.48760827e-02 3.16862175e-05 9.99889344e-01 -3.39996637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.56, Y:-29.34, Z:-3.40 [[ 9.59132601e-01 2.82615702e-01 1.38931319e-02 1.61557422e+02] [-2.82585233e-01 9.59233216e-01 -4.15023239e-03 -2.93369772e+01] [-1.44996744e-02 5.46292804e-05 9.99894873e-01 -3.40056770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.58, Y:-29.34, Z:-3.40 [[ 9.59604520e-01 2.81033096e-01 1.34001411e-02 1.61583285e+02] [-2.81004606e-01 9.59698074e-01 -4.00225723e-03 -2.93433038e+01] [-1.39848564e-02 7.50827675e-05 9.99902204e-01 -3.40144443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.61, Y:-29.35, Z:-3.40 [[ 9.60380499e-01 2.78360854e-01 1.35842883e-02 1.61611035e+02] [-2.78331332e-01 9.60476560e-01 -4.05550792e-03 -2.93493302e+01] [-1.41762851e-02 1.13897660e-04 9.99899505e-01 -3.40199723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:161.64, Y:-29.36, Z:-3.40 [[ 9.60706381e-01 2.77214172e-01 1.39840097e-02 1.61637658e+02] [-2.77182781e-01 9.60808141e-01 -4.17386275e-03 -2.93561436e+01] [-1.45930043e-02 1.33729880e-04 9.99893508e-01 -3.40202716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.66, Y:-29.36, Z:-3.40 [[ 9.61044182e-01 2.76021170e-01 1.43664387e-02 1.61663814e+02] [-2.75987923e-01 9.61151544e-01 -4.28678327e-03 -2.93627375e+01] [-1.49915677e-02 1.54824536e-04 9.99887608e-01 -3.40268111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.69, Y:-29.37, Z:-3.40 [[ 9.61605093e-01 2.74030392e-01 1.49328234e-02 1.61690428e+02] [-2.73994252e-01 9.61721013e-01 -4.45450302e-03 -2.93685286e+01] [-1.55818793e-02 1.91965022e-04 9.99878577e-01 -3.40306044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.72, Y:-29.38, Z:-3.40 [[ 9.61828029e-01 2.73246999e-01 1.49305400e-02 1.61717075e+02] [-2.73210795e-01 9.61943884e-01 -4.45256388e-03 -2.93757379e+01] [-1.55789914e-02 2.03416044e-04 9.99878619e-01 -3.40313064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:161.74, Y:-29.38, Z:-3.40 [[ 9.62005874e-01 2.72617136e-01 1.49865140e-02 1.61744020e+02] [-2.72580599e-01 9.62122576e-01 -4.46821465e-03 -2.93834094e+01] [-1.56369753e-02 2.13415770e-04 9.99877712e-01 -3.40387872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.77, Y:-29.39, Z:-3.41 [[ 9.62131912e-01 2.72230801e-01 1.38771613e-02 1.61769734e+02] [-2.72199446e-01 9.62231963e-01 -4.13664719e-03 -2.93906431e+01] [-1.44791710e-02 2.02644636e-04 9.99895151e-01 -3.40510904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:161.80, Y:-29.40, Z:-3.40 [[ 9.62057098e-01 2.72559416e-01 1.25500693e-02 1.61797142e+02] [-2.72533812e-01 9.62138936e-01 -3.74011677e-03 -2.93974193e+01] [-1.30943144e-02 1.77887663e-04 9.99914250e-01 -3.39678043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.82, Y:-29.41, Z:-3.41 [[ 9.62003117e-01 2.72749077e-01 1.25676191e-02 1.61824258e+02] [-2.72723429e-01 9.62085189e-01 -3.74439266e-03 -2.94061770e+01] [-1.31123998e-02 1.74633242e-04 9.99914014e-01 -3.40644959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.85, Y:-29.41, Z:-3.41 [[ 9.61950856e-01 2.72939678e-01 1.24290951e-02 1.61851614e+02] [-2.72914616e-01 9.62031134e-01 -3.70255989e-03 -2.94134797e+01] [-1.29677519e-02 1.69598942e-04 9.99915901e-01 -3.40711887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:161.88, Y:-29.42, Z:-3.41 [[ 9.61830520e-01 2.73363107e-01 1.24363255e-02 1.61878852e+02] [-2.73338062e-01 9.61910903e-01 -3.70393032e-03 -2.94211467e+01] [-1.29751550e-02 1.63232126e-04 9.99915806e-01 -3.40768082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18862385300002 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:161.91, Y:-29.43, Z:-3.40 [[ 9.61476940e-01 2.74598569e-01 1.25586251e-02 1.61906355e+02] [-2.74573145e-01 9.61558945e-01 -3.73952169e-03 -2.94275338e+01] [-1.31027256e-02 1.47202667e-04 9.99914145e-01 -3.40004022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:-29.44, Z:-3.41 [[ 9.61319194e-01 2.75114787e-01 1.33139760e-02 1.61932394e+02] [-2.75086276e-01 9.61411375e-01 -3.96339323e-03 -2.94360659e+01] [-1.38905961e-02 1.47593899e-04 9.99903510e-01 -3.40787462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:161.96, Y:-29.44, Z:-3.41 [[ 9.60724039e-01 2.77134640e-01 1.43426973e-02 1.61958733e+02] [-2.77101797e-01 9.60831086e-01 -4.26836247e-03 -2.94437037e+01] [-1.49638205e-02 1.26331240e-04 9.99888028e-01 -3.40821133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:-29.45, Z:-3.41 [[ 9.60362382e-01 2.78357090e-01 1.48803556e-02 1.61984460e+02] [-2.78321898e-01 9.60477651e-01 -4.42746514e-03 -2.94510612e+01] [-1.55246653e-02 1.10442140e-04 9.99879479e-01 -3.40790044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.01, Y:-29.46, Z:-3.41 [[ 9.59954539e-01 2.79735329e-01 1.53436634e-02 1.62011250e+02] [-2.79698111e-01 9.60077152e-01 -4.56387189e-03 -2.94585487e+01] [-1.60077768e-02 8.95158734e-05 9.99871863e-01 -3.40816193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.04, Y:-29.47, Z:-3.41 [[ 9.59441916e-01 2.81474437e-01 1.55997417e-02 1.62037036e+02] [-2.81436215e-01 9.59568725e-01 -4.63887348e-03 -2.94660513e+01] [-1.62747486e-02 6.03973885e-05 9.99867556e-01 -3.40831927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.06, Y:-29.47, Z:-3.41 [[ 9.58460138e-01 2.84815595e-01 1.53049065e-02 1.62064051e+02] [-2.84779251e-01 9.58582327e-01 -4.54984397e-03 -2.94723672e+01] [-1.59668794e-02 2.32425585e-06 9.99872521e-01 -3.40910805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.09, Y:-29.48, Z:-3.41 [[ 9.58008748e-01 2.86335300e-01 1.52097000e-02 1.62090905e+02] [-2.86299616e-01 9.58129477e-01 -4.52042715e-03 -2.94794881e+01] [-1.58672198e-02 -2.39225243e-05 9.99874107e-01 -3.41029981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:-29.49, Z:-3.41 [[ 9.57660738e-01 2.87506802e-01 1.50249529e-02 1.62117634e+02] [-2.87472141e-01 9.57778595e-01 -4.46442307e-03 -2.94869658e+01] [-1.56741303e-02 -4.38526811e-05 9.99877152e-01 -3.41085240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.458623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.14, Y:-29.49, Z:-3.41 [[ 9.57313439e-01 2.88669995e-01 1.48530967e-02 1.62143612e+02] [-2.88636278e-01 9.57428655e-01 -4.41232661e-03 -2.94949800e+01] [-1.54944867e-02 -6.31629838e-05 9.99879951e-01 -3.41228079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:162.17, Y:-29.50, Z:-3.41 [[ 9.57353208e-01 2.88542786e-01 1.47613045e-02 1.62169380e+02] [-2.88509489e-01 9.57467000e-01 -4.38380442e-03 -2.95027151e+01] [-1.53983770e-02 -6.19271843e-05 9.99881436e-01 -3.41285105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:-29.51, Z:-3.41 [[ 9.57455591e-01 2.88195790e-01 1.48988976e-02 1.62196228e+02] [-2.88161848e-01 9.57571503e-01 -4.42334466e-03 -2.95107620e+01] [-1.55415490e-02 -5.81377846e-05 9.99879221e-01 -3.41325302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:-29.52, Z:-3.41 [[ 9.57487543e-01 2.88081005e-01 1.50645344e-02 1.62222657e+02] [-2.88046307e-01 9.57606042e-01 -4.47141305e-03 -2.95194279e+01] [-1.57140184e-02 -5.79612180e-05 9.99876526e-01 -3.41335952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:-29.53, Z:-3.41 [[ 9.57506877e-01 2.87986002e-01 1.56410844e-02 1.62248950e+02] [-2.87948604e-01 9.57634617e-01 -4.64137234e-03 -2.95282068e+01] [-1.63150941e-02 -5.96824814e-05 9.99866898e-01 -3.41382412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.608623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.28, Y:-29.54, Z:-3.41 [[ 9.57374293e-01 2.88420647e-01 1.57478007e-02 1.62276279e+02] [-2.88382816e-01 9.57503799e-01 -4.67180829e-03 -2.95359375e+01] [-1.64260250e-02 -6.87259613e-05 9.99865081e-01 -3.41425510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.30, Y:-29.54, Z:-3.41 [[ 9.57137150e-01 2.89207889e-01 1.57248890e-02 1.62303578e+02] [-2.89170295e-01 9.57266311e-01 -4.66375885e-03 -2.95434200e+01] [-1.64017023e-02 -8.33139255e-05 9.99865480e-01 -3.41441467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:-29.55, Z:-3.41 [[ 9.56874359e-01 2.90067698e-01 1.58805728e-02 1.62330045e+02] [-2.90029490e-01 9.57006124e-01 -4.70897007e-03 -2.95508612e+01] [-1.65637255e-02 -9.99417011e-05 9.99862807e-01 -3.41486961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.36, Y:-29.56, Z:-3.42 [[ 9.56064195e-01 2.92719812e-01 1.60114333e-02 1.62356715e+02] [-2.92681368e-01 9.56198248e-01 -4.74630101e-03 -2.95578986e+01] [-1.66994408e-02 -1.48479750e-04 9.99860544e-01 -3.41536827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.38, Y:-29.56, Z:-3.42 [[ 9.55567390e-01 2.94356172e-01 1.56655104e-02 1.62384400e+02] [-2.94319609e-01 9.55695775e-01 -4.64260528e-03 -2.95647133e+01] [-1.63380416e-02 -1.74344699e-04 9.99866510e-01 -3.41566716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.41, Y:-29.57, Z:-3.42 [[ 9.55101116e-01 2.95886778e-01 1.52601545e-02 1.62411354e+02] [-2.95852296e-01 9.55222998e-01 -4.52135791e-03 -2.95709928e+01] [-1.59146606e-02 -1.96397762e-04 9.99873334e-01 -3.41658980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.44, Y:-29.58, Z:-3.42 [[ 9.54564176e-01 2.97630133e-01 1.49511783e-02 1.62439080e+02] [-2.97597265e-01 9.54681232e-01 -4.42871785e-03 -2.95775651e+01] [-1.55917292e-02 -2.21934357e-04 9.99878417e-01 -3.41749858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.47, Y:-29.58, Z:-3.42 [[ 9.53380325e-01 3.01386250e-01 1.52408783e-02 1.62466209e+02] [-3.01352592e-01 9.53502095e-01 -4.51340689e-03 -2.95818504e+01] [-1.58924882e-02 -2.89884852e-04 9.99873664e-01 -3.41765134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.49, Y:-29.59, Z:-3.42 [[ 9.52787296e-01 3.03234745e-01 1.56543070e-02 1.62492312e+02] [-3.03199509e-01 9.52915830e-01 -4.63443682e-03 -2.95875317e+01] [-1.63225593e-02 -3.30745677e-04 9.99866723e-01 -3.41784860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.52, Y:-29.59, Z:-3.42 [[ 9.52280244e-01 3.04813583e-01 1.58435017e-02 1.62519571e+02] [-3.04777731e-01 9.52411963e-01 -4.68903994e-03 -2.95934324e+01] [-1.65188237e-02 -3.63466412e-04 9.99863489e-01 -3.41823963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.55, Y:-29.60, Z:-3.42 [[ 9.51888136e-01 3.06033519e-01 1.58890561e-02 1.62547108e+02] [-3.05997650e-01 9.52020659e-01 -4.70135909e-03 -2.95995185e+01] [-1.65654831e-02 -3.86845887e-04 9.99862708e-01 -3.41885433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.57, Y:-29.60, Z:-3.42 [[ 9.51673918e-01 3.06726292e-01 1.53537225e-02 1.62574529e+02] [-3.06692905e-01 9.51797685e-01 -4.54193123e-03 -2.96035333e+01] [-1.60067673e-02 -3.86440288e-04 9.99871809e-01 -3.41975934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.60, Y:-29.61, Z:-3.42 [[ 9.51768731e-01 3.06453122e-01 1.49253528e-02 1.62602289e+02] [-3.06421559e-01 9.51885679e-01 -4.41395157e-03 -2.96097544e+01] [-1.55598988e-02 -3.72388785e-04 9.99878868e-01 -3.42023369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.63, Y:-29.61, Z:-3.42 [[ 9.52073100e-01 3.05513032e-01 1.47851291e-02 1.62628513e+02] [-3.05481961e-01 9.52187829e-01 -4.37147386e-03 -2.96149610e+01] [-1.54137622e-02 -3.54627576e-04 9.99881138e-01 -3.42138212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:-29.62, Z:-3.42 [[ 9.52455089e-01 3.04327651e-01 1.46282073e-02 1.62655899e+02] [-3.04297116e-01 9.52567357e-01 -4.32382829e-03 -2.96206670e+01] [-1.52502132e-02 -3.33069015e-04 9.99883653e-01 -3.42203396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:-29.63, Z:-3.42 [[ 9.53003952e-01 3.02611911e-01 1.44740632e-02 1.62683618e+02] [-3.02581833e-01 9.53113812e-01 -4.27724367e-03 -2.96268274e+01] [-1.50897744e-02 -3.03358450e-04 9.99886097e-01 -3.42254891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.71, Y:-29.63, Z:-3.42 [[ 9.54440039e-01 2.98045746e-01 1.45926459e-02 1.62710455e+02] [-2.98014655e-01 9.54551559e-01 -4.31128080e-03 -2.96313560e+01] [-1.52143918e-02 -2.33963311e-04 9.99884227e-01 -3.42351698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:-29.64, Z:-3.42 [[ 9.55166068e-01 2.95710008e-01 1.46072900e-02 1.62737586e+02] [-2.95678600e-01 9.55277735e-01 -4.31435558e-03 -2.96378620e+01] [-1.52298170e-02 -1.98137002e-04 9.99884000e-01 -3.42421066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:162.76, Y:-29.64, Z:-3.42 [[ 9.56745208e-01 2.90585663e-01 1.40917916e-02 1.62764792e+02] [-2.90555890e-01 9.56848974e-01 -4.16118214e-03 -2.96434461e+01] [-1.46928962e-02 -1.13261985e-04 9.99892047e-01 -3.42453778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.79, Y:-29.65, Z:-3.43 [[ 9.57519380e-01 2.88015483e-01 1.42729789e-02 1.62791374e+02] [-2.87984666e-01 9.57625749e-01 -4.21380988e-03 -2.96501083e+01] [-1.48818146e-02 -7.55944323e-05 9.99889257e-01 -3.42525081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.82, Y:-29.66, Z:-3.43 [[ 9.58194696e-01 2.85745276e-01 1.45794793e-02 1.62818812e+02] [-2.85712893e-01 9.58305606e-01 -4.30204058e-03 -2.96571909e+01] [-1.52008846e-02 -4.33527537e-05 9.99884459e-01 -3.42584712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.238623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:162.85, Y:-29.66, Z:-3.43 [[ 9.58785546e-01 2.83758729e-01 1.45348323e-02 1.62845932e+02] [-2.83726332e-01 9.58895711e-01 -4.28775352e-03 -2.96640866e+01] [-1.51540759e-02 -1.28785659e-05 9.99885170e-01 -3.42597647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.87, Y:-29.67, Z:-3.43 [[ 9.59371327e-01 2.81763253e-01 1.47012497e-02 1.62871793e+02] [-2.81729893e-01 9.59483960e-01 -4.33573250e-03 -2.96701721e+01] [-1.53272634e-02 1.77959163e-05 9.99882530e-01 -3.42643818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.298623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:162.90, Y:-29.67, Z:-3.42 [[ 9.60038025e-01 2.79490978e-01 1.45527871e-02 1.62900170e+02] [-2.79458048e-01 9.60148317e-01 -4.29059868e-03 -2.96746215e+01] [-1.51720177e-02 5.22444045e-05 9.99884897e-01 -3.41898034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.93, Y:-29.68, Z:-3.43 [[ 9.60350228e-01 2.78391723e-01 1.50162866e-02 1.62926215e+02] [-2.78356545e-01 9.60467617e-01 -4.42608799e-03 -2.96818405e+01] [-1.56548433e-02 7.07129469e-05 9.99877453e-01 -3.42666542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.95, Y:-29.69, Z:-3.43 [[ 9.60611866e-01 2.77481499e-01 1.51281520e-02 1.62953283e+02] [-2.77445704e-01 9.60730977e-01 -4.45764962e-03 -2.96884156e+01] [-1.57709995e-02 8.48303532e-05 9.99875626e-01 -3.42717818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.98, Y:-29.69, Z:-3.43 [[ 9.60783441e-01 2.76885268e-01 1.51567530e-02 1.62981097e+02] [-2.76849282e-01 9.60902981e-01 -4.46488539e-03 -2.96947906e+01] [-1.58004302e-02 9.36517470e-05 9.99875161e-01 -3.42737923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:-29.70, Z:-3.43 [[ 9.60924247e-01 2.76404380e-01 1.50069943e-02 1.63007742e+02] [-2.76369061e-01 9.61041419e-01 -4.41965366e-03 -2.97006577e+01] [-1.56439547e-02 9.94834571e-05 9.99877621e-01 -3.42822620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.04, Y:-29.71, Z:-3.43 [[ 9.60940240e-01 2.76348754e-01 1.50073894e-02 1.63035112e+02] [-2.76313449e-01 9.61057416e-01 -4.41831148e-03 -2.97085809e+01] [-1.56439578e-02 9.89897682e-05 9.99877621e-01 -3.42877596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.06, Y:-29.71, Z:-3.43 [[ 9.61217524e-01 2.75424414e-01 1.42219200e-02 1.63062563e+02] [-2.75392619e-01 9.61322725e-01 -4.18628440e-03 -2.97136573e+01] [-1.48248598e-02 1.07318129e-04 9.99890100e-01 -3.43005301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.09, Y:-29.72, Z:-3.43 [[ 9.61340842e-01 2.74994862e-01 1.41989524e-02 1.63088849e+02] [-2.74963135e-01 9.61445689e-01 -4.17871678e-03 -2.97201522e+01] [-1.48006472e-02 1.12982641e-04 9.99890458e-01 -3.43069010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.12, Y:-29.73, Z:-3.43 [[ 9.61415315e-01 2.74738088e-01 1.41270869e-02 1.63116028e+02] [-2.74706686e-01 9.61519095e-01 -4.15537081e-03 -2.97271012e+01] [-1.47251024e-02 1.14231925e-04 9.99891573e-01 -3.43124365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.14, Y:-29.73, Z:-3.43 [[ 9.61478655e-01 2.74529318e-01 1.38725981e-02 1.63142938e+02] [-2.74499030e-01 9.61578723e-01 -4.07945692e-03 -2.97332432e+01] [-1.44595257e-02 1.14296035e-04 9.99895449e-01 -3.43144782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.17, Y:-29.74, Z:-3.43 [[ 9.61421016e-01 2.74729651e-01 1.39013958e-02 1.63169660e+02] [-2.74699274e-01 9.61521506e-01 -4.08685930e-03 -2.97383983e+01] [-1.44892725e-02 1.10489081e-04 9.99895019e-01 -3.43204261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.20, Y:-29.74, Z:-3.43 [[ 9.61463838e-01 2.74587212e-01 1.37532082e-02 1.63195817e+02] [-2.74557483e-01 9.61562193e-01 -4.04201979e-03 -2.97446031e+01] [-1.43344520e-02 1.10209624e-04 9.99897250e-01 -3.43246726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:-29.75, Z:-3.43 [[ 9.61525243e-01 2.74382415e-01 1.35461345e-02 1.63223292e+02] [-2.74353572e-01 9.61620652e-01 -3.97987885e-03 -2.97510984e+01] [-1.41182515e-02 1.10323577e-04 9.99900326e-01 -3.43322151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.25, Y:-29.76, Z:-3.43 [[ 9.61656843e-01 2.73948733e-01 1.29694846e-02 1.63250087e+02] [-2.73922262e-01 9.61744290e-01 -3.80983486e-03 -2.97566279e+01] [-1.35170272e-02 1.11123207e-04 9.99908635e-01 -3.43403756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.28, Y:-29.76, Z:-3.44 [[ 9.61841957e-01 2.73292472e-01 1.30872213e-02 1.63277046e+02] [-2.73265487e-01 9.61930980e-01 -3.84225428e-03 -2.97640519e+01] [-1.36390628e-02 1.19355464e-04 9.99906977e-01 -3.43511173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.30, Y:-29.77, Z:-3.44 [[ 9.62101761e-01 2.72377494e-01 1.30653150e-02 1.63304376e+02] [-2.72350529e-01 9.62190461e-01 -3.83481673e-03 -2.97716635e+01] [-1.36158393e-02 1.31138473e-04 9.99907292e-01 -3.43610061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.33, Y:-29.78, Z:-3.44 [[ 9.62323931e-01 2.71595509e-01 1.29819957e-02 1.63330347e+02] [-2.71568828e-01 9.62411482e-01 -3.80942136e-03 -2.97787194e+01] [-1.35286435e-02 1.40391975e-04 9.99908474e-01 -3.43641539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:163.36, Y:-29.79, Z:-3.44 [[ 9.62614406e-01 2.70546049e-01 1.33544134e-02 1.63357075e+02] [-2.70517733e-01 9.62707022e-01 -3.91737693e-03 -2.97856401e+01] [-1.39162184e-02 1.58317852e-04 9.99903152e-01 -3.43661684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:163.38, Y:-29.79, Z:-3.44 [[ 9.63170687e-01 2.68529120e-01 1.39405767e-02 1.63382907e+02] [-2.68498068e-01 9.63271547e-01 -4.08823619e-03 -2.97924585e+01] [-1.45263714e-02 1.94651330e-04 9.99894468e-01 -3.43704916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:-29.80, Z:-3.44 [[ 9.63482173e-01 2.67409301e-01 1.39415807e-02 1.63408787e+02] [-2.67378145e-01 9.63583012e-01 -4.08727483e-03 -2.98003363e+01] [-1.45268456e-02 2.10342455e-04 9.99894458e-01 -3.43764716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.898623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.44, Y:-29.81, Z:-3.44 [[ 9.63828664e-01 2.66146644e-01 1.41517021e-02 1.63435628e+02] [-2.66114426e-01 9.63932524e-01 -4.14753485e-03 -2.98083026e+01] [-1.47451384e-02 2.31540878e-04 9.99891258e-01 -3.43816166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:163.46, Y:-29.82, Z:-3.44 [[ 9.64099710e-01 2.65166302e-01 1.40919283e-02 1.63460944e+02] [-2.65134266e-01 9.64202662e-01 -4.12900248e-03 -2.98163586e+01] [-1.46823470e-02 2.44517043e-04 9.99892179e-01 -3.43890000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.49, Y:-29.82, Z:-3.44 [[ 9.64466618e-01 2.63819583e-01 1.42608211e-02 1.63487508e+02] [-2.63786647e-01 9.64572007e-01 -4.17717560e-03 -2.98249615e+01] [-1.48576095e-02 2.66932260e-04 9.99889584e-01 -3.43971924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.988623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:163.51, Y:-29.83, Z:-3.44 [[ 9.65071931e-01 2.61632419e-01 1.35884631e-02 1.63513126e+02] [-2.61602309e-01 9.65167548e-01 -3.97945893e-03 -2.98348384e+01] [-1.41562991e-02 2.85690795e-04 9.99899754e-01 -3.44046463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.018623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.54, Y:-29.84, Z:-3.44 [[ 9.65339251e-01 2.60674282e-01 1.30018623e-02 1.63539168e+02] [-2.60646649e-01 9.65426764e-01 -3.80618415e-03 -2.98436416e+01] [-1.35445201e-02 2.85367129e-04 9.99908228e-01 -3.44076910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.048623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.57, Y:-29.85, Z:-3.44 [[ 9.65642710e-01 2.59548027e-01 1.29991901e-02 1.63565252e+02] [-2.59520332e-01 9.65730155e-01 -3.80331521e-03 -2.98523843e+01] [-1.35408528e-02 2.99089488e-04 9.99908274e-01 -3.44171409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.078623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.59, Y:-29.86, Z:-3.44 [[ 9.65910868e-01 2.58541675e-01 1.31300374e-02 1.63590050e+02] [-2.58513339e-01 9.66000053e-01 -3.84064050e-03 -2.98620022e+01] [-1.36765825e-02 3.15426582e-04 9.99906421e-01 -3.44198301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.108623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:163.62, Y:-29.87, Z:-3.44 [[ 9.65958595e-01 2.58351608e-01 1.33581534e-02 1.63616265e+02] [-2.58322279e-01 9.66050901e-01 -3.90608404e-03 -2.98712465e+01] [-1.39137992e-02 3.22406827e-04 9.99903146e-01 -3.44208811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.138623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:163.64, Y:-29.88, Z:-3.44 [[ 9.65899500e-01 2.58557374e-01 1.36470057e-02 1.63642283e+02] [-2.58526799e-01 9.65995848e-01 -3.98947762e-03 -2.98805850e+01] [-1.42144597e-02 3.25317729e-04 9.99898917e-01 -3.44281278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.168623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.67, Y:-29.89, Z:-3.44 [[ 9.65701769e-01 2.59291444e-01 1.37127846e-02 1.63667365e+02] [-2.59260662e-01 9.65799072e-01 -4.00769038e-03 -2.98895783e+01] [-1.42829545e-02 3.15048069e-04 9.99897944e-01 -3.44267405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:163.69, Y:-29.90, Z:-3.44 [[ 9.65052150e-01 2.61695955e-01 1.37686396e-02 1.63693579e+02] [-2.61665185e-01 9.65150325e-01 -4.02269185e-03 -2.98994888e+01] [-1.43415292e-02 2.79333797e-04 9.99897116e-01 -3.44287834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.72, Y:-29.91, Z:-3.44 [[ 9.64672077e-01 2.63095042e-01 1.37398142e-02 1.63720087e+02] [-2.63064557e-01 9.64769886e-01 -4.01322939e-03 -2.99079625e+01] [-1.43116198e-02 2.56992184e-04 9.99897550e-01 -3.44352359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:163.75, Y:-29.92, Z:-3.44 [[ 9.64264501e-01 2.64582870e-01 1.37795623e-02 1.63745656e+02] [-2.64552376e-01 9.64362924e-01 -4.02375962e-03 -2.99166224e+01] [-1.43531169e-02 2.34552608e-04 9.99896961e-01 -3.44434369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.77, Y:-29.93, Z:-3.44 [[ 9.63792652e-01 2.66301683e-01 1.36798398e-02 1.63771870e+02] [-2.66271816e-01 9.63889709e-01 -3.99359430e-03 -2.99256991e+01] [-1.42493577e-02 2.06441049e-04 9.99898451e-01 -3.44422065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.80, Y:-29.93, Z:-3.44 [[ 9.63426198e-01 2.67627071e-01 1.36275919e-02 1.63798416e+02] [-2.67597579e-01 9.63522556e-01 -3.97728915e-03 -2.99343631e+01] [-1.41949225e-02 1.85113949e-04 9.99899230e-01 -3.44498793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.82, Y:-29.94, Z:-3.45 [[ 9.63028345e-01 2.69067945e-01 1.33734029e-02 1.63823839e+02] [-2.69039695e-01 9.63121184e-01 -3.90216363e-03 -2.99426822e+01] [-1.39301548e-02 1.59917926e-04 9.99902958e-01 -3.44565392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:163.85, Y:-29.95, Z:-3.45 [[ 9.62203091e-01 2.71992368e-01 1.36148490e-02 1.63850409e+02] [-2.71963400e-01 9.62299401e-01 -3.97130374e-03 -2.99526514e+01] [-1.41817253e-02 1.18460120e-04 9.99899427e-01 -3.44611422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:163.88, Y:-29.96, Z:-3.45 [[ 9.61793205e-01 2.73434181e-01 1.36959255e-02 1.63877241e+02] [-2.73405029e-01 9.61890711e-01 -3.99388883e-03 -2.99610853e+01] [-1.42660492e-02 9.67602323e-05 9.99898230e-01 -3.44617026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:163.90, Y:-29.97, Z:-3.45 [[ 9.61393514e-01 2.74836218e-01 1.36953953e-02 1.63904099e+02] [-2.74807225e-01 9.61491054e-01 -3.99267866e-03 -2.99691544e+01] [-1.42653328e-02 7.49417823e-05 9.99898242e-01 -3.44661385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:163.93, Y:-29.98, Z:-3.45 [[ 9.60448987e-01 2.78127818e-01 1.35151767e-02 1.63929507e+02] [-2.78099920e-01 9.60544073e-01 -3.93932305e-03 -2.99771759e+01] [-1.40775582e-02 2.49492644e-05 9.99900906e-01 -3.44748679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.96, Y:-29.99, Z:-3.45 [[ 9.59921651e-01 2.79955697e-01 1.32375177e-02 1.63955372e+02] [-2.79929132e-01 9.60012921e-01 -3.85658262e-03 -2.99851852e+01] [-1.37878603e-02 -3.54968473e-06 9.99904943e-01 -3.44760538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:163.98, Y:-29.99, Z:-3.45 [[ 9.59422419e-01 2.81667777e-01 1.31105328e-02 1.63981829e+02] [-2.81641896e-01 9.59511992e-01 -3.81833610e-03 -2.99931085e+01] [-1.36552157e-02 -2.90780533e-05 9.99906763e-01 -3.44814947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:-30.00, Z:-3.45 [[ 9.58991727e-01 2.83114665e-01 1.34519185e-02 1.64007971e+02] [-2.83087576e-01 9.59086067e-01 -3.91674729e-03 -3.00008872e+01] [-1.40104362e-02 -5.19427458e-05 9.99901848e-01 -3.44869500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.03, Y:-30.01, Z:-3.45 [[ 9.58333840e-01 2.85283813e-01 1.44705346e-02 1.64033438e+02] [-2.85252734e-01 9.58443080e-01 -4.21189372e-03 -3.00082443e+01] [-1.50707689e-02 -9.13592734e-05 9.99886425e-01 -3.44870094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.618623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.06, Y:-30.02, Z:-3.45 [[ 9.58138401e-01 2.85936907e-01 1.45220223e-02 1.64059939e+02] [-2.85905701e-01 9.58248441e-01 -4.22559590e-03 -3.00156321e+01] [-1.51239591e-02 -1.03223270e-04 9.99885621e-01 -3.44909561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:164.09, Y:-30.02, Z:-3.44 [[ 9.58026141e-01 2.86316108e-01 1.44567822e-02 1.64087425e+02] [-2.86285241e-01 9.58135207e-01 -4.20552437e-03 -3.00224487e+01] [-1.50556614e-02 -1.09761087e-04 9.99886651e-01 -3.44361435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.678623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.11, Y:-30.03, Z:-3.45 [[ 9.58080732e-01 2.86095492e-01 1.51881673e-02 1.64113811e+02] [-2.86061414e-01 9.58201105e-01 -4.41705457e-03 -3.00297206e+01] [-1.58170181e-02 -1.12853737e-04 9.99874897e-01 -3.44972720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.14, Y:-30.04, Z:-3.45 [[ 9.58174623e-01 2.85748976e-01 1.57770323e-02 1.64140899e+02] [-2.85712183e-01 9.58304498e-01 -4.58675085e-03 -3.00375089e+01] [-1.64298603e-02 -1.12782064e-04 9.99865014e-01 -3.45082238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.738623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:164.17, Y:-30.05, Z:-3.45 [[ 9.58400511e-01 2.84984423e-01 1.58852084e-02 1.64167492e+02] [-2.84947039e-01 9.58532143e-01 -4.61695502e-03 -3.00455231e+01] [-1.65422431e-02 -1.01551049e-04 9.99863163e-01 -3.45145523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.19, Y:-30.05, Z:-3.45 [[ 9.58977921e-01 2.83053398e-01 1.55602259e-02 1.64193556e+02] [-2.83017293e-01 9.59104149e-01 -4.52135547e-03 -3.00534177e+01] [-1.62036622e-02 -6.79329351e-05 9.99868710e-01 -3.45210529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:-30.06, Z:-3.45 [[ 9.59254811e-01 2.82126598e-01 1.53228782e-02 1.64220265e+02] [-2.82091490e-01 9.59377183e-01 -4.45098059e-03 -3.00608886e+01] [-1.59561598e-02 -5.28290049e-05 9.99872691e-01 -3.45247662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.828623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:164.25, Y:-30.07, Z:-3.45 [[ 9.59467192e-01 2.81415252e-01 1.51050813e-02 1.64247299e+02] [-2.81381065e-01 9.59586085e-01 -4.38657037e-03 -3.00681820e+01] [-1.57290736e-02 -4.15135075e-05 9.99876290e-01 -3.45346126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.27, Y:-30.08, Z:-3.45 [[ 9.59737340e-01 2.80515912e-01 1.46649634e-02 1.64273476e+02] [-2.80483599e-01 9.59849375e-01 -4.25771552e-03 -3.00750205e+01] [-1.52705129e-02 -2.69931474e-05 9.99883399e-01 -3.45350935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.888623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.30, Y:-30.08, Z:-3.45 [[ 9.59766116e-01 2.80422307e-01 1.45715960e-02 1.64301104e+02] [-2.80390414e-01 9.59876726e-01 -4.22927075e-03 -3.00817714e+01] [-1.51729177e-02 -2.66250846e-05 9.99884884e-01 -3.45395807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.33, Y:-30.09, Z:-3.45 [[ 9.59756793e-01 2.80462609e-01 1.44091576e-02 1.64327439e+02] [-2.80431444e-01 9.59864951e-01 -4.18106092e-03 -3.00879466e+01] [-1.50034766e-02 -2.79792407e-05 9.99887441e-01 -3.45458462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.35, Y:-30.09, Z:-3.46 [[ 9.59792317e-01 2.80346001e-01 1.43118350e-02 1.64354258e+02] [-2.80315262e-01 9.59899015e-01 -4.15151096e-03 -3.00941226e+01] [-1.49017758e-02 -2.72374659e-05 9.99888962e-01 -3.45543563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.38, Y:-30.10, Z:-3.46 [[ 9.59928712e-01 2.79856666e-01 1.47347823e-02 1.64381964e+02] [-2.79824046e-01 9.60041794e-01 -4.27281876e-03 -3.01000219e+01] [-1.53417836e-02 -2.15449850e-05 9.99882308e-01 -3.45606125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.41, Y:-30.11, Z:-3.46 [[ 9.60117001e-01 2.79199783e-01 1.49273589e-02 1.64409516e+02] [-2.79166243e-01 9.60233035e-01 -4.32752083e-03 -3.01068272e+01] [-1.55419860e-02 -1.22883774e-05 9.99879216e-01 -3.45690875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:-30.11, Z:-3.46 [[ 9.60434466e-01 2.78111485e-01 1.48202161e-02 1.64437184e+02] [-2.78078313e-01 9.60548802e-01 -4.29532740e-03 -3.01136811e+01] [-1.54301207e-02 4.19978409e-06 9.99880949e-01 -3.45706742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.46, Y:-30.12, Z:-3.46 [[ 9.60702342e-01 2.77190418e-01 1.47133525e-02 1.64463525e+02] [-2.77157632e-01 9.60815004e-01 -4.26326009e-03 -3.01205212e+01] [-1.53185447e-02 1.78060070e-05 9.99882664e-01 -3.45831854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:-30.13, Z:-3.46 [[ 9.61039170e-01 2.76025504e-01 1.46162578e-02 1.64491030e+02] [-2.75993035e-01 9.61150311e-01 -4.23374702e-03 -3.01279259e+01] [-1.52170429e-02 3.48113793e-05 9.99884213e-01 -3.45908010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.52, Y:-30.13, Z:-3.46 [[ 9.61659521e-01 2.73857665e-01 1.45926549e-02 1.64518424e+02] [-2.73825068e-01 9.61770230e-01 -4.22581032e-03 -3.01343600e+01] [-1.51920516e-02 6.79560051e-05 9.99884592e-01 -3.45880293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.55, Y:-30.14, Z:-3.46 [[ 9.61892796e-01 2.73033607e-01 1.46594283e-02 1.64545320e+02] [-2.73000633e-01 9.62004492e-01 -4.24401720e-03 -3.01411271e+01] [-1.52611952e-02 8.02563693e-05 9.99883538e-01 -3.45886989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.57, Y:-30.15, Z:-3.46 [[ 9.62133860e-01 2.72177188e-01 1.47652641e-02 1.64572165e+02] [-2.72143653e-01 9.62247146e-01 -4.27352491e-03 -3.01474307e+01] [-1.53709892e-02 9.34301153e-05 9.99881855e-01 -3.45951263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.60, Y:-30.15, Z:-3.46 [[ 9.62371442e-01 2.71341758e-01 1.46580363e-02 1.64599432e+02] [-2.71308628e-01 9.62483059e-01 -4.24137491e-03 -3.01542350e+01] [-1.52589738e-02 1.04926365e-04 9.99883570e-01 -3.46022824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:-30.16, Z:-3.46 [[ 9.62774772e-01 2.69917819e-01 1.44605844e-02 1.64625893e+02] [-2.69885430e-01 9.62883355e-01 -4.18319475e-03 -3.01605799e+01] [-1.50529748e-02 1.24773331e-04 9.99886690e-01 -3.46112323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.278623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:164.65, Y:-30.17, Z:-3.46 [[ 9.63068375e-01 2.68871215e-01 1.44074672e-02 1.64653024e+02] [-2.68838967e-01 9.63176126e-01 -4.16648767e-03 -3.01677555e+01] [-1.49971771e-02 1.39323896e-04 9.99887526e-01 -3.46111285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.68, Y:-30.17, Z:-3.46 [[ 9.63363938e-01 2.67805238e-01 1.45009565e-02 1.64679519e+02] [-2.67772463e-01 9.63473056e-01 -4.19263612e-03 -3.01747612e+01] [-1.50940908e-02 1.56077609e-04 9.99886066e-01 -3.46184409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.71, Y:-30.18, Z:-3.46 [[ 9.63379348e-01 2.67749766e-01 1.45015561e-02 1.64706927e+02] [-2.67717016e-01 9.63488474e-01 -4.19056112e-03 -3.01825475e+01] [-1.50941039e-02 1.54786713e-04 9.99886066e-01 -3.46239380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:164.73, Y:-30.19, Z:-3.46 [[ 9.63696030e-01 2.66642129e-01 1.38541458e-02 1.64734219e+02] [-2.66612134e-01 9.63795595e-01 -4.00273003e-03 -3.01891163e+01] [-1.44198612e-02 1.63731667e-04 9.99896015e-01 -3.45590298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:164.76, Y:-30.20, Z:-3.46 [[ 9.64481392e-01 2.63775895e-01 1.40684760e-02 1.64760999e+02] [-2.63744675e-01 9.64583969e-01 -4.06356760e-03 -3.01973938e+01] [-1.46420976e-02 2.08749706e-04 9.99892777e-01 -3.46393120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.79, Y:-30.20, Z:-3.46 [[ 9.64902198e-01 2.62241862e-01 1.38908114e-02 1.64786951e+02] [-2.62211280e-01 9.65002152e-01 -4.01139523e-03 -3.02049849e+01] [-1.44566187e-02 2.28276629e-04 9.99895472e-01 -3.46386642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.81, Y:-30.21, Z:-3.46 [[ 9.65316100e-01 2.60721836e-01 1.37459519e-02 1.64812525e+02] [-2.60691760e-01 9.65413934e-01 -3.96769720e-03 -3.02123370e+01] [-1.43049988e-02 2.46625601e-04 9.99897648e-01 -3.46450765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.488623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:164.84, Y:-30.22, Z:-3.47 [[ 9.65912338e-01 2.58520643e-01 1.34324772e-02 1.64839573e+02] [-2.58491728e-01 9.66005695e-01 -3.87601271e-03 -3.02209860e+01] [-1.39778788e-02 2.71704269e-04 9.99902268e-01 -3.46506892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:-30.23, Z:-3.47 [[ 9.66173523e-01 2.57544500e-01 1.33997973e-02 1.64866026e+02] [-2.57515645e-01 9.66266397e-01 -3.86561163e-03 -3.02293390e+01] [-1.39433409e-02 2.84194165e-04 9.99902747e-01 -3.46539079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.89, Y:-30.24, Z:-3.47 [[ 9.66394919e-01 2.56704689e-01 1.35485717e-02 1.64893126e+02] [-2.56675121e-01 9.66489841e-01 -3.90747031e-03 -3.02377454e+01] [-1.40976228e-02 2.98578171e-04 9.99900579e-01 -3.46592359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.92, Y:-30.25, Z:-3.47 [[ 9.66493237e-01 2.56332456e-01 1.35828589e-02 1.64918566e+02] [-2.56302716e-01 9.66588630e-01 -3.91636374e-03 -3.02456742e+01] [-1.41329282e-02 3.03815422e-04 9.99900079e-01 -3.46622077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:164.95, Y:-30.25, Z:-3.47 [[ 9.66593409e-01 2.55941311e-01 1.38284866e-02 1.64945109e+02] [-2.55910465e-01 9.66692271e-01 -3.98584722e-03 -3.02536808e+01] [-1.43880341e-02 3.13839214e-04 9.99896438e-01 -3.46651529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.97, Y:-30.26, Z:-3.47 [[ 9.66629518e-01 2.55786363e-01 1.41672886e-02 1.64970966e+02] [-2.55753987e-01 9.66733279e-01 -4.08243624e-03 -3.02626585e+01] [-1.47402209e-02 3.22862826e-04 9.99891305e-01 -3.46650227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.668623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.00, Y:-30.27, Z:-3.47 [[ 9.66586705e-01 2.55950182e-01 1.41295962e-02 1.64997396e+02] [-2.55918013e-01 9.66689921e-01 -4.07027210e-03 -3.02716188e+01] [-1.47007251e-02 3.18252720e-04 9.99891888e-01 -3.46699928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.02, Y:-30.28, Z:-3.47 [[ 9.66572901e-01 2.56012123e-01 1.39506607e-02 1.65024235e+02] [-2.55980786e-01 9.66673521e-01 -4.01768520e-03 -3.02805237e+01] [-1.45143105e-02 3.12284533e-04 9.99894613e-01 -3.46735346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:165.05, Y:-30.29, Z:-3.46 [[ 9.66484622e-01 2.56371156e-01 1.34650173e-02 1.65050319e+02] [-2.56342008e-01 9.66578369e-01 -3.87707851e-03 -3.02884367e+01] [-1.40089655e-02 2.95487186e-04 9.99901826e-01 -3.46127580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.08, Y:-30.30, Z:-3.47 [[ 9.66161721e-01 2.57584062e-01 1.34899786e-02 1.65075369e+02] [-2.57554949e-01 9.66255854e-01 -3.88249157e-03 -3.02982799e+01] [-1.40348387e-02 2.76703990e-04 9.99901469e-01 -3.46778475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.10, Y:-30.31, Z:-3.47 [[ 9.65956723e-01 2.58380514e-01 1.29274701e-02 1.65101746e+02] [-2.58353865e-01 9.66043190e-01 -3.71946797e-03 -3.03065899e+01] [-1.34495325e-02 2.52983217e-04 9.99909519e-01 -3.46862467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.13, Y:-30.32, Z:-3.47 [[ 9.65627711e-01 2.59631860e-01 1.24266589e-02 1.65128542e+02] [-2.59607350e-01 9.65707640e-01 -3.57451375e-03 -3.03151988e+01] [-1.29285771e-02 2.25597548e-04 9.99916397e-01 -3.46922166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:-30.32, Z:-3.47 [[ 9.65262297e-01 2.61000434e-01 1.21437466e-02 1.65154405e+02] [-2.60977143e-01 9.65338662e-01 -3.49262107e-03 -3.03233126e+01] [-1.26344037e-02 2.02055158e-04 9.99920162e-01 -3.46971281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:-30.33, Z:-3.47 [[ 9.64265765e-01 2.64634517e-01 1.26533151e-02 1.65179997e+02] [-2.64609565e-01 9.64348768e-01 -3.63745350e-03 -3.03329155e+01] [-1.31648046e-02 1.59283686e-04 9.99913328e-01 -3.46999422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:-30.34, Z:-3.47 [[ 9.63698428e-01 2.66688585e-01 1.27490191e-02 1.65206648e+02] [-2.66663460e-01 9.63782746e-01 -3.66297714e-03 -3.03413686e+01] [-1.32641588e-02 1.30307770e-04 9.99912019e-01 -3.46933553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:-30.35, Z:-3.47 [[ 9.63019021e-01 2.69103501e-01 1.33293180e-02 1.65233142e+02] [-2.69076282e-01 9.63111258e-01 -3.82869259e-03 -3.03498137e+01] [-1.38679308e-02 1.00500464e-04 9.99903831e-01 -3.46975956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.26, Y:-30.36, Z:-3.47 [[ 9.62330042e-01 2.71545742e-01 1.35573016e-02 1.65258571e+02] [-2.71517840e-01 9.62425532e-01 -3.89319224e-03 -3.03574076e+01] [-1.41050730e-02 6.54866126e-05 9.99900516e-01 -3.46957815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:-30.36, Z:-3.47 [[ 9.61623591e-01 2.74037574e-01 1.35453969e-02 1.65284334e+02] [-2.74009985e-01 9.61718986e-01 -3.88857084e-03 -3.03646539e+01] [-1.40924799e-02 2.77674497e-05 9.99900696e-01 -3.46989941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:165.31, Y:-30.37, Z:-3.47 [[ 9.60891877e-01 2.76594367e-01 1.35039520e-02 1.65311078e+02] [-2.76567215e-01 9.60986762e-01 -3.87551093e-03 -3.03718118e+01] [-1.40490636e-02 -1.08034308e-05 9.99901307e-01 -3.47050708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.34, Y:-30.38, Z:-3.47 [[ 9.59410078e-01 2.81705083e-01 1.32116751e-02 1.65336986e+02] [-2.81679590e-01 9.59501037e-01 -3.79069992e-03 -3.03779018e+01] [-1.37444753e-02 -8.46235060e-05 9.99905537e-01 -3.47137490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.36, Y:-30.39, Z:-3.47 [[ 9.58701492e-01 2.84116971e-01 1.29998845e-02 1.65363551e+02] [-2.84092527e-01 9.58789619e-01 -3.72870881e-03 -3.03851141e+01] [-1.35235438e-02 -1.18451334e-04 9.99908546e-01 -3.47148721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:-30.39, Z:-3.47 [[ 9.58101024e-01 2.86145283e-01 1.27790646e-02 1.65390842e+02] [-2.86121856e-01 9.58186232e-01 -3.66442279e-03 -3.03925567e+01] [-1.32932810e-02 -1.45482434e-04 9.99911630e-01 -3.47210139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:-30.40, Z:-3.47 [[ 9.57048588e-01 2.89654427e-01 1.25822882e-02 1.65417300e+02] [-2.89632025e-01 9.57131274e-01 -3.60743906e-03 -3.03987305e+01] [-1.30878122e-02 -1.91739151e-04 9.99914333e-01 -3.47293347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.45, Y:-30.41, Z:-3.47 [[ 9.56619395e-01 2.91072235e-01 1.25014644e-02 1.65445120e+02] [-2.91050268e-01 9.56701055e-01 -3.58219895e-03 -3.04050904e+01] [-1.30028429e-02 -2.11753579e-04 9.99915437e-01 -3.47291205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.47, Y:-30.41, Z:-3.47 [[ 9.56263369e-01 2.92240082e-01 1.24941597e-02 1.65471376e+02] [-2.92218253e-01 9.56344960e-01 -3.57920416e-03 -3.04109914e+01] [-1.29947136e-02 -2.28359704e-04 9.99915539e-01 -3.47365493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.50, Y:-30.42, Z:-3.47 [[ 9.55904251e-01 2.93411463e-01 1.25210475e-02 1.65497535e+02] [-2.93389655e-01 9.55986220e-01 -3.58572001e-03 -3.04167781e+01] [-1.30220403e-02 -2.45940821e-04 9.99915179e-01 -3.47402413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.52, Y:-30.42, Z:-3.47 [[ 9.55685557e-01 2.94115004e-01 1.27075105e-02 1.65524630e+02] [-2.94092619e-01 9.55770002e-01 -3.63799961e-03 -3.04227923e+01] [-1.32154476e-02 -2.60401352e-04 9.99912638e-01 -3.47458786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:-30.43, Z:-3.47 [[ 9.55406852e-01 2.95004023e-01 1.30527113e-02 1.65551569e+02] [-2.94980501e-01 9.55495969e-01 -3.73584533e-03 -3.04274078e+01] [-1.35739025e-02 -2.81043110e-04 9.99907831e-01 -3.47465034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:-30.43, Z:-3.47 [[ 9.55438931e-01 2.94895936e-01 1.31467288e-02 1.65578565e+02] [-2.94872081e-01 9.55529333e-01 -3.76147995e-03 -3.04332805e+01] [-1.36713302e-02 -2.82738903e-04 9.99906503e-01 -3.47494002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.61, Y:-30.44, Z:-3.48 [[ 9.55547680e-01 2.94537623e-01 1.32747713e-02 1.65605031e+02] [-2.94513280e-01 9.55639843e-01 -3.79715666e-03 -3.04385761e+01] [-1.38043059e-02 -2.81232200e-04 9.99904676e-01 -3.47530776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:-30.44, Z:-3.48 [[ 9.55708169e-01 2.94022788e-01 1.31337722e-02 1.65632203e+02] [-2.93998927e-01 9.55798371e-01 -3.75560561e-03 -3.04442684e+01] [-1.36574717e-02 -2.72051963e-04 9.99906695e-01 -3.47565546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.66, Y:-30.45, Z:-3.48 [[ 9.56140052e-01 2.92620742e-01 1.30116176e-02 1.65659347e+02] [-2.92597206e-01 9.56228549e-01 -3.71977967e-03 -3.04475941e+01] [-1.35305649e-02 -2.50532624e-04 9.99908426e-01 -3.47705591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.69, Y:-30.45, Z:-3.48 [[ 9.56444201e-01 2.91630441e-01 1.28909232e-02 1.65686417e+02] [-2.91607265e-01 9.56531040e-01 -3.68411965e-03 -3.04531945e+01] [-1.34049696e-02 -2.35431985e-04 9.99910122e-01 -3.47758983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.71, Y:-30.46, Z:-3.48 [[ 9.56758390e-01 2.90612164e-01 1.25679498e-02 1.65713067e+02] [-2.90590058e-01 9.56840908e-01 -3.59095159e-03 -3.04588258e+01] [-1.30691027e-02 -2.16448191e-04 9.99914572e-01 -3.47784849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.74, Y:-30.46, Z:-3.48 [[ 9.57053352e-01 2.89638153e-01 1.25945382e-02 1.65739588e+02] [-2.89615884e-01 9.57136196e-01 -3.59739245e-03 -3.04646347e+01] [-1.30966305e-02 -2.04681802e-04 9.99914215e-01 -3.47914783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:-30.47, Z:-3.48 [[ 9.57730334e-01 2.87391811e-01 1.25918165e-02 1.65766224e+02] [-2.87369369e-01 9.57813090e-01 -3.59574807e-03 -3.04682817e+01] [-1.30939952e-02 -1.74745357e-04 9.99914255e-01 -3.47922508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:165.79, Y:-30.47, Z:-3.47 [[ 9.58100474e-01 2.86164426e-01 1.23856269e-02 1.65793481e+02] [-2.86142634e-01 9.58180514e-01 -3.53502430e-03 -3.04734199e+01] [-1.28792645e-02 -1.57147440e-04 9.99917046e-01 -3.47320627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.82, Y:-30.48, Z:-3.48 [[ 9.58468420e-01 2.84897324e-01 1.31073359e-02 1.65820631e+02] [-2.84872814e-01 9.58558028e-01 -3.73994711e-03 -3.04800752e+01] [-1.36296429e-02 -1.49302461e-04 9.99907101e-01 -3.48006066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:165.85, Y:-30.49, Z:-3.48 [[ 9.58859206e-01 2.83582294e-01 1.30424369e-02 1.65846934e+02] [-2.83557917e-01 9.58947895e-01 -3.72050453e-03 -3.04855327e+01] [-1.35620866e-02 -1.30846226e-04 9.99908022e-01 -3.48003640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:-30.49, Z:-3.48 [[ 9.59779455e-01 2.80461241e-01 1.28409764e-02 1.65874700e+02] [-2.80437338e-01 9.59865347e-01 -3.66251458e-03 -3.04902628e+01] [-1.33528017e-02 -8.58830000e-05 9.99910844e-01 -3.48052853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.90, Y:-30.50, Z:-3.48 [[ 9.60220810e-01 2.78940261e-01 1.29740640e-02 1.65901396e+02] [-2.78915764e-01 9.60308454e-01 -3.69733357e-03 -3.04967713e+01] [-1.34904385e-02 -6.84143388e-05 9.99908998e-01 -3.48102665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:165.93, Y:-30.50, Z:-3.48 [[ 9.60874168e-01 2.76688098e-01 1.28269007e-02 1.65928945e+02] [-2.76663958e-01 9.60959778e-01 -3.65499952e-03 -3.05019899e+01] [-1.33374305e-02 -3.67464853e-05 9.99911052e-01 -3.47591763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:-30.51, Z:-3.48 [[ 9.61313974e-01 2.75143447e-01 1.30968339e-02 1.65955532e+02] [-2.75118183e-01 9.61403185e-01 -3.72854500e-03 -3.05086551e+01] [-1.36172225e-02 -1.88747322e-05 9.99907281e-01 -3.48174359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:-30.51, Z:-3.48 [[ 9.62482044e-01 2.71024672e-01 1.31887177e-02 1.65982877e+02] [-2.70998679e-01 9.62572400e-01 -3.75369718e-03 -3.05138963e+01] [-1.37124402e-02 3.87410525e-05 9.99905979e-01 -3.48232578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.01, Y:-30.52, Z:-3.48 [[ 9.63094742e-01 2.68852031e-01 1.29268240e-02 1.66008926e+02] [-2.68826873e-01 9.63181489e-01 -3.67852364e-03 -3.05208543e+01] [-1.34398561e-02 6.76891041e-05 9.99909679e-01 -3.48314322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.04, Y:-30.53, Z:-3.48 [[ 9.63648492e-01 2.66862909e-01 1.28752580e-02 1.66036271e+02] [-2.66837803e-01 9.63734496e-01 -3.66162682e-03 -3.05281412e+01] [-1.33854827e-02 9.29155956e-05 9.99910406e-01 -3.48295852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.06, Y:-30.53, Z:-3.48 [[ 9.64560237e-01 2.63541073e-01 1.30250572e-02 1.66062478e+02] [-2.63515090e-01 9.64648166e-01 -3.70326403e-03 -3.05348088e+01] [-1.35405597e-02 1.39722109e-04 9.99908313e-01 -3.48357419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.898623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:166.09, Y:-30.54, Z:-3.48 [[ 9.65008013e-01 2.61914703e-01 1.26579091e-02 1.66090366e+02] [-2.61890040e-01 9.65091013e-01 -3.59767584e-03 -3.05409996e+01] [-1.31583185e-02 1.56805710e-04 9.99913413e-01 -3.47670106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:166.12, Y:-30.55, Z:-3.48 [[ 9.65177887e-01 2.61263238e-01 1.31593162e-02 1.66117001e+02] [-2.61236535e-01 9.65267575e-01 -3.73918915e-03 -3.05492943e+01] [-1.36791739e-02 1.71288526e-04 9.99906421e-01 -3.48393930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.958623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:166.14, Y:-30.56, Z:-3.48 [[ 9.65426980e-01 2.60331654e-01 1.33482368e-02 1.66144007e+02] [-2.60304103e-01 9.65519236e-01 -3.79189555e-03 -3.05556512e+01] [-1.38751298e-02 1.86197474e-04 9.99903718e-01 -3.48453587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.988623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:166.17, Y:-30.56, Z:-3.48 [[ 9.65743343e-01 2.59145025e-01 1.35518325e-02 1.66169645e+02] [-2.59116524e-01 9.65838399e-01 -3.84879644e-03 -3.05631188e+01] [-1.40862766e-02 2.05445818e-04 9.99900762e-01 -3.48477871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.20, Y:-30.57, Z:-3.49 [[ 9.65938984e-01 2.58411042e-01 1.36239842e-02 1.66196766e+02] [-2.58382180e-01 9.66035034e-01 -3.86808883e-03 -3.05713562e+01] [-1.41608029e-02 2.16143058e-04 9.99899707e-01 -3.48552687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:-30.58, Z:-3.49 [[ 9.66078359e-01 2.57890890e-01 1.35975357e-02 1.66223497e+02] [-2.57862103e-01 9.66174021e-01 -3.85965381e-03 -3.05798890e+01] [-1.41329553e-02 2.22438869e-04 9.99900100e-01 -3.48560920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.25, Y:-30.59, Z:-3.49 [[ 9.66335777e-01 2.56936999e-01 1.33620986e-02 1.66249831e+02] [-2.56909117e-01 9.66428127e-01 -3.79215130e-03 -3.05875669e+01] [-1.38878519e-02 2.31646508e-04 9.99903532e-01 -3.48612608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.108623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:166.28, Y:-30.60, Z:-3.49 [[ 9.66512417e-01 2.56289130e-01 1.30242121e-02 1.66276395e+02] [-2.56262610e-01 9.66600138e-01 -3.69416538e-03 -3.05954734e+01] [-1.35359796e-02 2.32838117e-04 9.99908357e-01 -3.48653810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.138623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:166.30, Y:-30.60, Z:-3.49 [[ 9.66763019e-01 2.55349507e-01 1.28800209e-02 1.66302530e+02] [-2.55323501e-01 9.66848784e-01 -3.65232556e-03 -3.06036744e+01] [-1.33856521e-02 2.42361245e-04 9.99910379e-01 -3.48736129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.168623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.33, Y:-30.61, Z:-3.49 [[ 9.66844011e-01 2.55048339e-01 1.27672342e-02 1.66329500e+02] [-2.55022777e-01 9.66928273e-01 -3.61902786e-03 -3.06119558e+01] [-1.32680268e-02 2.43099880e-04 9.99911946e-01 -3.48809966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.36, Y:-30.62, Z:-3.49 [[ 9.66867567e-01 2.54958244e-01 1.27828428e-02 1.66356060e+02] [-2.54932623e-01 9.66952033e-01 -3.62257021e-03 -3.06202640e+01] [-1.32840000e-02 2.43782003e-04 9.99911734e-01 -3.48846190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.38, Y:-30.63, Z:-3.49 [[ 9.66871046e-01 2.54944820e-01 1.27874425e-02 1.66382503e+02] [-2.54919191e-01 9.66955573e-01 -3.62303659e-03 -3.06286426e+01] [-1.32885632e-02 2.43244687e-04 9.99911674e-01 -3.48884235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.41, Y:-30.64, Z:-3.49 [[ 9.66885766e-01 2.54888975e-01 1.27877125e-02 1.66409951e+02] [-2.54863353e-01 9.66970295e-01 -3.62208318e-03 -3.06362843e+01] [-1.32885672e-02 2.43021381e-04 9.99911674e-01 -3.48939213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:166.44, Y:-30.65, Z:-3.49 [[ 9.66760870e-01 2.55342884e-01 1.31693362e-02 1.66435570e+02] [-2.55315763e-01 9.66850533e-01 -3.72945325e-03 -3.06460708e+01] [-1.36850691e-02 2.43150357e-04 9.99906325e-01 -3.48978208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31862385300002 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:166.46, Y:-30.65, Z:-3.49 [[ 9.66697131e-01 2.55581663e-01 1.32162912e-02 1.66461787e+02] [-2.55554388e-01 9.66787441e-01 -3.74153061e-03 -3.06544199e+01] [-1.37336110e-02 2.39445695e-04 9.99905661e-01 -3.49030284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:166.49, Y:-30.66, Z:-3.49 [[ 9.66635454e-01 2.55817975e-01 1.31553192e-02 1.66487841e+02] [-2.55790985e-01 9.66724939e-01 -3.72335701e-03 -3.06626945e+01] [-1.36700768e-02 2.34116833e-04 9.99906533e-01 -3.49085518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:166.51, Y:-30.67, Z:-3.49 [[ 9.66585551e-01 2.56014879e-01 1.29905374e-02 1.66514618e+02] [-2.55988593e-01 9.66672814e-01 -3.67556611e-03 -3.06709765e+01] [-1.34985990e-02 2.27319693e-04 9.99908864e-01 -3.49146124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.54, Y:-30.68, Z:-3.49 [[ 9.66487367e-01 2.56420685e-01 1.22720012e-02 1.66541039e+02] [-2.56397271e-01 9.66565253e-01 -3.47140153e-03 -3.06808091e+01] [-1.27518291e-02 2.08558098e-04 9.99918670e-01 -3.49201425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:166.57, Y:-30.69, Z:-3.49 [[ 9.66493111e-01 2.56403474e-01 1.21788685e-02 1.66567204e+02] [-2.56380424e-01 9.66569819e-01 -3.44420905e-03 -3.06891030e+01] [-1.26548339e-02 2.06380848e-04 9.99919903e-01 -3.49291481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46862385300003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:166.59, Y:-30.70, Z:-3.49 [[ 9.66512717e-01 2.56340973e-01 1.19362517e-02 1.66593740e+02] [-2.56318841e-01 9.66586398e-01 -3.37447493e-03 -3.06977583e+01] [-1.24024347e-02 2.01986728e-04 9.99923066e-01 -3.49350183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.62, Y:-30.71, Z:-3.49 [[ 9.66454774e-01 2.56562892e-01 1.18597112e-02 1.66619515e+02] [-2.56541069e-01 9.66527518e-01 -3.35201055e-03 -3.07058648e+01] [-1.23227387e-02 1.97063620e-04 9.99924053e-01 -3.49372862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.65, Y:-30.71, Z:-3.49 [[ 9.66159878e-01 2.57666284e-01 1.19656194e-02 1.66646489e+02] [-2.57644169e-01 9.66233953e-01 -3.38075626e-03 -3.07145462e+01] [-1.24326946e-02 1.83479000e-04 9.99922694e-01 -3.49381143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.558623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:166.67, Y:-30.72, Z:-3.49 [[ 9.65897370e-01 2.58637719e-01 1.21983895e-02 1.66672111e+02] [-2.58614821e-01 9.65974379e-01 -3.44593378e-03 -3.07224398e+01] [-1.26745802e-02 1.73734053e-04 9.99919659e-01 -3.49418988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:166.70, Y:-30.73, Z:-3.49 [[ 9.65678236e-01 2.59455042e-01 1.21911849e-02 1.66698249e+02] [-2.59432260e-01 9.65755174e-01 -3.44196714e-03 -3.07300775e+01] [-1.26667357e-02 1.61046093e-04 9.99919761e-01 -3.49463008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.618623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.72, Y:-30.74, Z:-3.50 [[ 9.65356409e-01 2.60646731e-01 1.22591036e-02 1.66724631e+02] [-2.60623806e-01 9.65434234e-01 -3.45997691e-03 -3.07381024e+01] [-1.27371900e-02 1.45096648e-04 9.99918868e-01 -3.49517682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:166.75, Y:-30.75, Z:-3.50 [[ 9.64869699e-01 2.62456258e-01 1.19656114e-02 1.66751169e+02] [-2.62434567e-01 9.64943884e-01 -3.37628056e-03 -3.07461236e+01] [-1.24322695e-02 1.17480766e-04 9.99922709e-01 -3.49567291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.678623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:166.78, Y:-30.75, Z:-3.50 [[ 9.64639450e-01 2.63295372e-01 1.20945469e-02 1.66778446e+02] [-2.63273289e-01 9.64715261e-01 -3.41172458e-03 -3.07543349e+01] [-1.25660853e-02 1.06912975e-04 9.99921038e-01 -3.49620572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:166.81, Y:-30.76, Z:-3.50 [[ 9.64533621e-01 2.63686270e-01 1.20185330e-02 1.66805610e+02] [-2.63664505e-01 9.64608491e-01 -3.38936443e-03 -3.07621884e+01] [-1.24869079e-02 1.00295382e-04 9.99922030e-01 -3.49719077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.738623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:166.83, Y:-30.77, Z:-3.50 [[ 9.64459226e-01 2.63966704e-01 1.18313450e-02 1.66831923e+02] [-2.63945643e-01 9.64531788e-01 -3.33575446e-03 -3.07699361e+01] [-1.22922365e-02 9.43671918e-05 9.99924443e-01 -3.49738329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.768623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:166.86, Y:-30.78, Z:-3.50 [[ 9.64409026e-01 2.64151597e-01 1.17968346e-02 1.66858814e+02] [-2.64130687e-01 9.64481169e-01 -3.32486685e-03 -3.07774815e+01] [-1.22560937e-02 9.06255725e-05 9.99924887e-01 -3.49827063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.798623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:166.89, Y:-30.79, Z:-3.50 [[ 9.64256534e-01 2.64723219e-01 1.14434902e-02 1.66886005e+02] [-2.64703593e-01 9.64324432e-01 -3.22446412e-03 -3.07857179e+01] [-1.18888277e-02 8.00776356e-05 9.99929322e-01 -3.49820991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.828623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:166.91, Y:-30.79, Z:-3.50 [[ 9.64149765e-01 2.65102430e-01 1.16589677e-02 1.66911447e+02] [-2.65082096e-01 9.64220253e-01 -3.28432023e-03 -3.07930996e+01] [-1.21124940e-02 7.59929935e-05 9.99926638e-01 -3.49914662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.858623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:166.94, Y:-30.80, Z:-3.50 [[ 9.64041578e-01 2.65509160e-01 1.13455774e-02 1.66937774e+02] [-2.65489944e-01 9.64108335e-01 -3.19503718e-03 -3.08009262e+01] [-1.17866774e-02 6.80119758e-05 9.99930532e-01 -3.49926495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.888623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:166.96, Y:-30.81, Z:-3.50 [[ 9.63608265e-01 2.67096564e-01 1.08874527e-02 1.66964229e+02] [-2.67078981e-01 9.63669769e-01 -3.06502225e-03 -3.08089948e+01] [-1.13105660e-02 4.56709910e-05 9.99936032e-01 -3.49962687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.918623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:166.99, Y:-30.82, Z:-3.50 [[ 9.63359538e-01 2.68002580e-01 1.06309922e-02 1.66990427e+02] [-2.67985874e-01 9.63418194e-01 -2.99254697e-03 -3.08163296e+01] [-1.10441016e-02 3.39429506e-05 9.99939011e-01 -3.50004581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.02, Y:-30.82, Z:-3.50 [[ 9.63130154e-01 2.68818566e-01 1.08113245e-02 1.67017478e+02] [-2.68801363e-01 9.63190832e-01 -3.04127926e-03 -3.08235869e+01] [-1.12309210e-02 2.30490073e-05 9.99936931e-01 -3.50046675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:167.05, Y:-30.83, Z:-3.50 [[ 9.62720121e-01 2.70266897e-01 1.12148229e-02 1.67045242e+02] [-2.70248494e-01 9.62785440e-01 -3.15397910e-03 -3.08295561e+01] [-1.16498844e-02 5.61014631e-06 9.99932138e-01 -3.49552287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00862385300002 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:167.07, Y:-30.84, Z:-3.50 [[ 9.62588132e-01 2.70715846e-01 1.17055196e-02 1.67071195e+02] [-2.70695840e-01 9.62659302e-01 -3.29109317e-03 -3.08372516e+01] [-1.21593784e-02 -6.68243199e-07 9.99926072e-01 -3.50130796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:167.10, Y:-30.84, Z:-3.50 [[ 9.62598332e-01 2.70699707e-01 1.12303541e-02 1.67098421e+02] [-2.70681304e-01 9.62663840e-01 -3.15645073e-03 -3.08441951e+01] [-1.16655061e-02 -1.45268684e-06 9.99931956e-01 -3.50182004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.12, Y:-30.85, Z:-3.50 [[ 9.62659116e-01 2.70494945e-01 1.09503499e-02 1.67124723e+02] [-2.70477438e-01 9.62721395e-01 -3.07742972e-03 -3.08506110e+01] [-1.13745653e-02 6.93180919e-07 9.99935308e-01 -3.50263345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.15, Y:-30.86, Z:-3.50 [[ 9.62739069e-01 2.70224187e-01 1.06006469e-02 1.67152226e+02] [-2.70207785e-01 9.62797429e-01 -2.97728270e-03 -3.08576950e+01] [-1.10108093e-02 1.96906807e-06 9.99939379e-01 -3.50325934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.18, Y:-30.86, Z:-3.50 [[ 9.62996837e-01 2.69315297e-01 1.03132608e-02 1.67179878e+02] [-2.69299728e-01 9.63052060e-01 -2.89584602e-03 -3.08638332e+01] [-1.07121027e-02 1.13322305e-05 9.99942624e-01 -3.50445474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:167.21, Y:-30.87, Z:-3.51 [[ 9.63173069e-01 2.68693662e-01 1.00674917e-02 1.67206225e+02] [-2.68678799e-01 9.63225683e-01 -2.82619662e-03 -3.08703417e+01] [-1.04566477e-02 1.71948876e-05 9.99945328e-01 -3.50520016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.23, Y:-30.88, Z:-3.51 [[ 9.63359922e-01 2.68032105e-01 9.82093344e-03 1.67233192e+02] [-2.68017936e-01 9.63409980e-01 -2.75603044e-03 -3.08772236e+01] [-1.02002899e-02 2.28629617e-05 9.99947975e-01 -3.50586257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.26, Y:-30.88, Z:-3.51 [[ 9.63891581e-01 2.66114552e-01 9.80130280e-03 1.67259289e+02] [-2.66100347e-01 9.63941411e-01 -2.74986373e-03 -3.08829469e+01] [-1.01796604e-02 4.24404180e-05 9.99948185e-01 -3.50636591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24862385300003 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:167.29, Y:-30.89, Z:-3.51 [[ 9.64236488e-01 2.64848902e-01 1.01515732e-02 1.67285942e+02] [-2.64833604e-01 9.64289923e-01 -2.84715180e-03 -3.08891544e+01] [-1.05431248e-02 5.68499215e-05 9.99944418e-01 -3.50702313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.278623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:167.31, Y:-30.90, Z:-3.51 [[ 9.64609108e-01 2.63483400e-01 1.02843172e-02 1.67313591e+02] [-2.63467633e-01 9.64663927e-01 -2.88334966e-03 -3.08954954e+01] [-1.06806246e-02 7.17206239e-05 9.99942958e-01 -3.50749084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:167.34, Y:-30.90, Z:-3.51 [[ 9.65010201e-01 2.62003101e-01 1.04731996e-02 1.67339662e+02] [-2.61986670e-01 9.65067027e-01 -2.93556110e-03 -3.09015406e+01] [-1.08764658e-02 8.90077071e-05 9.99940846e-01 -3.50779752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.338623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:167.37, Y:-30.91, Z:-3.51 [[ 9.66023568e-01 2.58186294e-01 1.17602360e-02 1.67367233e+02] [-2.58165310e-01 9.66095138e-01 -3.29493040e-03 -3.09083095e+01] [-1.22122126e-02 1.46895464e-04 9.99925417e-01 -3.50770129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.39, Y:-30.92, Z:-3.51 [[ 9.66555989e-01 2.56143412e-01 1.26519550e-02 1.67394551e+02] [-2.56118964e-01 9.66638774e-01 -3.54369855e-03 -3.09159197e+01] [-1.31375653e-02 1.84777442e-04 9.99913681e-01 -3.50803317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.398623853 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:167.42, Y:-30.92, Z:-3.51 [[ 9.67092436e-01 2.54090624e-01 1.30451369e-02 1.67421435e+02] [-2.54064461e-01 9.67180390e-01 -3.65278417e-03 -3.09237399e+01] [-1.35451388e-02 2.18274259e-04 9.99908237e-01 -3.50842722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:167.45, Y:-30.93, Z:-3.51 [[ 9.67685706e-01 2.51819585e-01 1.30870425e-02 1.67447963e+02] [-2.51793058e-01 9.67774165e-01 -3.66352123e-03 -3.09314416e+01] [-1.35878480e-02 2.49910669e-04 9.99907650e-01 -3.50910616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.458623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:167.48, Y:-30.94, Z:-3.51 [[ 9.68177060e-01 2.49940546e-01 1.27633584e-02 1.67475044e+02] [-2.49915165e-01 9.68261148e-01 -3.57196718e-03 -3.09394714e+01] [-1.32510435e-02 2.68539851e-04 9.99912165e-01 -3.50957612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.488623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:167.50, Y:-30.95, Z:-3.51 [[ 9.68991210e-01 2.46785845e-01 1.23604924e-02 1.67500780e+02] [-2.46761792e-01 9.69069995e-01 -3.45859995e-03 -3.09472683e+01] [-1.28317158e-02 3.01255691e-04 9.99917625e-01 -3.51052311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.518623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:167.53, Y:-30.96, Z:-3.51 [[ 9.69289281e-01 2.45615057e-01 1.23099240e-02 1.67528024e+02] [-2.45591129e-01 9.69367394e-01 -3.44267004e-03 -3.09552947e+01] [-1.27784105e-02 3.13735042e-04 9.99918304e-01 -3.51116322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.548623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.55, Y:-30.96, Z:-3.51 [[ 9.69497146e-01 2.44806582e-01 1.20424724e-02 1.67553460e+02] [-2.44783630e-01 9.69571884e-01 -3.36705159e-03 -3.09627584e+01] [-1.25003190e-02 3.16546795e-04 9.99921818e-01 -3.51168990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.578623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:167.58, Y:-30.97, Z:-3.51 [[ 9.69610748e-01 2.44366008e-01 1.18427656e-02 1.67580055e+02] [-2.44343793e-01 9.69683017e-01 -3.31007679e-03 -3.09709302e+01] [-1.22925990e-02 3.15779757e-04 9.99924393e-01 -3.51209821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.608623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:167.61, Y:-30.98, Z:-3.51 [[ 9.69573675e-01 2.44511758e-01 1.18696634e-02 1.67606743e+02] [-2.44489464e-01 9.69646277e-01 -3.31668891e-03 -3.09798853e+01] [-1.23203444e-02 3.13766608e-04 9.99924052e-01 -3.51219492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.638623853 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:167.63, Y:-30.99, Z:-3.51 [[ 9.69439085e-01 2.45050663e-01 1.17487548e-02 1.67632530e+02] [-2.45028867e-01 9.69510227e-01 -3.28233851e-03 -3.09877316e+01] [-1.21948771e-02 3.03243175e-04 9.99925594e-01 -3.51273574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.668623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:167.66, Y:-31.00, Z:-3.51 [[ 9.69263758e-01 2.45739902e-01 1.18180821e-02 1.67659748e+02] [-2.45717921e-01 9.69335759e-01 -3.29992615e-03 -3.09960300e+01] [-1.22666131e-02 2.94584247e-04 9.99924719e-01 -3.51336996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:167.69, Y:-31.00, Z:-3.51 [[ 9.68792066e-01 2.47601474e-01 1.16379792e-02 1.67686626e+02] [-2.47580302e-01 9.68861930e-01 -3.24877933e-03 -3.10047768e+01] [-1.20799976e-02 2.66057231e-04 9.99926999e-01 -3.51460817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:167.71, Y:-31.01, Z:-3.52 [[ 9.68482347e-01 2.48817916e-01 1.14711899e-02 1.67713489e+02] [-2.48797442e-01 9.68550249e-01 -3.20140215e-03 -3.10127717e+01] [-1.19069900e-02 2.46498764e-04 9.99929079e-01 -3.51518872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:167.74, Y:-31.02, Z:-3.52 [[ 9.68115095e-01 2.50260232e-01 1.10895654e-02 1.67739212e+02] [-2.50241200e-01 9.68178583e-01 -3.09417775e-03 -3.10204956e+01] [-1.15110293e-02 2.20454043e-04 9.99933722e-01 -3.51523974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:167.77, Y:-31.03, Z:-3.52 [[ 9.67360080e-01 2.53147209e-01 1.14440276e-02 1.67766344e+02] [-2.53127158e-01 9.67427751e-01 -3.19187690e-03 -3.10291304e+01] [-1.18792846e-02 1.90900111e-04 9.99929421e-01 -3.51579044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:167.79, Y:-31.04, Z:-3.52 [[ 9.66945989e-01 2.54731529e-01 1.12828641e-02 1.67793487e+02] [-2.54712156e-01 9.67011799e-01 -3.14611271e-03 -3.10372629e+01] [-1.17120768e-02 1.68238438e-04 9.99931397e-01 -3.51635253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:167.82, Y:-31.04, Z:-3.52 [[ 9.66508344e-01 2.56383403e-01 1.13653362e-02 1.67819188e+02] [-2.56363869e-01 9.66575154e-01 -3.16831653e-03 -3.10449801e+01] [-1.17977553e-02 1.48542808e-04 9.99930393e-01 -3.51700393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:167.85, Y:-31.05, Z:-3.52 [[ 9.66066292e-01 2.58045704e-01 1.13284376e-02 1.67846506e+02] [-2.58026424e-01 9.66132702e-01 -3.15693190e-03 -3.10527908e+01] [-1.17594067e-02 1.26769268e-04 9.99930848e-01 -3.51752081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:167.87, Y:-31.06, Z:-3.52 [[ 9.65661293e-01 2.59560158e-01 1.12601813e-02 1.67872647e+02] [-2.59541221e-01 9.65726935e-01 -3.13715479e-03 -3.10604334e+01] [-1.16885408e-02 1.06947743e-04 9.99931681e-01 -3.51742679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93862385300002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:167.90, Y:-31.07, Z:-3.52 [[ 9.64914884e-01 2.62328872e-01 1.10828389e-02 1.67898553e+02] [-2.62310720e-01 9.64978527e-01 -3.08678216e-03 -3.10680635e+01] [-1.15044536e-02 7.13346132e-05 9.99933819e-01 -3.51860772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:167.93, Y:-31.08, Z:-3.52 [[ 9.64657172e-01 2.63283011e-01 1.08902326e-02 1.67925570e+02] [-2.63265557e-01 9.64718639e-01 -3.03212217e-03 -3.10758997e+01] [-1.13043166e-02 5.79352490e-05 9.99936102e-01 -3.51914219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:167.95, Y:-31.08, Z:-3.52 [[ 9.64431612e-01 2.64115455e-01 1.07094478e-02 1.67952179e+02] [-2.64098636e-01 9.64491070e-01 -2.98100159e-03 -3.10840107e+01] [-1.11164953e-02 4.66216172e-05 9.99938209e-01 -3.51983580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:167.98, Y:-31.09, Z:-3.52 [[ 9.64287009e-01 2.64652426e-01 1.04717581e-02 1.67978972e+02] [-2.64636385e-01 9.64343866e-01 -2.91409859e-03 -3.10918922e+01] [-1.08695990e-02 3.88191971e-05 9.99940923e-01 -3.52095630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.058623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:168.01, Y:-31.10, Z:-3.51 [[ 9.64066198e-01 2.65483240e-01 9.74760113e-03 1.68005404e+02] [-2.65469384e-01 9.64115475e-01 -2.71244979e-03 -3.10991573e+01] [-1.01179231e-02 2.72914848e-05 9.99948812e-01 -3.51434925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.03, Y:-31.11, Z:-3.52 [[ 9.63974877e-01 2.65786413e-01 1.04889762e-02 1.68031297e+02] [-2.65770410e-01 9.64031940e-01 -2.91663722e-03 -3.11082844e+01] [-1.08869107e-02 2.39054900e-05 9.99940736e-01 -3.52180725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.118623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:168.06, Y:-31.12, Z:-3.52 [[ 9.63963958e-01 2.65819214e-01 1.06599288e-02 1.68056857e+02] [-2.65802696e-01 9.64022897e-01 -2.96343642e-03 -3.11154184e+01] [-1.10641538e-02 2.32080781e-05 9.99938790e-01 -3.52200832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:168.08, Y:-31.12, Z:-3.52 [[ 9.63994139e-01 2.65709733e-01 1.06601014e-02 1.68084352e+02] [-2.65693215e-01 9.64053078e-01 -2.96281551e-03 -3.11228872e+01] [-1.10641525e-02 2.38201741e-05 9.99938790e-01 -3.52255804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.178623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.11, Y:-31.13, Z:-3.52 [[ 9.64039629e-01 2.65538419e-01 1.08139996e-02 1.68110849e+02] [-2.65521429e-01 9.64100279e-01 -3.00385223e-03 -3.11305215e+01] [-1.12234182e-02 2.44839522e-05 9.99937015e-01 -3.52335227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.14, Y:-31.14, Z:-3.52 [[ 9.64027804e-01 2.65584915e-01 1.07258992e-02 1.68137188e+02] [-2.65568212e-01 9.64087471e-01 -2.97863975e-03 -3.11386711e+01] [-1.11317868e-02 2.30336520e-05 9.99938039e-01 -3.52386801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:-31.15, Z:-3.52 [[ 9.64057019e-01 2.65471273e-01 1.09117687e-02 1.68163527e+02] [-2.65453989e-01 9.64118770e-01 -3.02938653e-03 -3.11471871e+01] [-1.13244561e-02 2.39288190e-05 9.99935876e-01 -3.52399014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.268623853 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:168.19, Y:-31.15, Z:-3.52 [[ 9.64070010e-01 2.65440630e-01 1.05018522e-02 1.68189824e+02] [-2.65424625e-01 9.64127207e-01 -2.91491737e-03 -3.11528857e+01] [-1.08988589e-02 2.27342322e-05 9.99940605e-01 -3.51653940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.298623853 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:168.22, Y:-31.16, Z:-3.52 [[ 9.63917352e-01 2.65954972e-01 1.14582313e-02 1.68215704e+02] [-2.65935971e-01 9.63985452e-01 -3.17917541e-03 -3.11615997e+01] [-1.18910857e-02 1.73064944e-05 9.99929298e-01 -3.52452235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.328623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:168.24, Y:-31.17, Z:-3.52 [[ 9.63839541e-01 2.66217857e-01 1.18908540e-02 1.68241938e+02] [-2.66197427e-01 9.63912886e-01 -3.29805666e-03 -3.11686432e+01] [-1.23397490e-02 1.34826707e-05 9.99923862e-01 -3.52459482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.358623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:168.27, Y:-31.18, Z:-3.52 [[ 9.63860998e-01 2.66126356e-01 1.21958498e-02 1.68268521e+02] [-2.66104872e-01 9.63938153e-01 -3.38149298e-03 -3.11757089e+01] [-1.26559493e-02 1.39141652e-05 9.99919910e-01 -3.52487962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.388623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.30, Y:-31.18, Z:-3.53 [[ 9.63856124e-01 2.66137615e-01 1.23345798e-02 1.68295858e+02] [-2.66115653e-01 9.63935044e-01 -3.41901702e-03 -3.11832643e+01] [-1.27996628e-02 1.30157382e-05 9.99918081e-01 -3.52508515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.418623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:168.32, Y:-31.19, Z:-3.53 [[ 9.63902804e-01 2.65974370e-01 1.22072957e-02 1.68322545e+02] [-2.65952857e-01 9.63980101e-01 -3.38283728e-03 -3.11907490e+01] [-1.26673381e-02 1.41611902e-05 9.99919766e-01 -3.52561238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:168.35, Y:-31.20, Z:-3.53 [[ 9.63906319e-01 2.65978604e-01 1.18317805e-02 1.68348372e+02] [-2.65958404e-01 9.63978933e-01 -3.27798201e-03 -3.11982587e+01] [-1.22774602e-02 1.29061260e-05 9.99924629e-01 -3.52643312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:168.38, Y:-31.21, Z:-3.53 [[ 9.63967249e-01 2.65765867e-01 1.16467575e-02 1.68375383e+02] [-2.65746292e-01 9.64037605e-01 -3.22559740e-03 -3.12057884e+01] [-1.20851659e-02 1.42876414e-05 9.99926972e-01 -3.52673924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:168.40, Y:-31.21, Z:-3.53 [[ 9.63996049e-01 2.65652182e-01 1.18547473e-02 1.68402529e+02] [-2.65631904e-01 9.64068938e-01 -3.28227608e-03 -3.12134044e+01] [-1.23007374e-02 1.51020835e-05 9.99924343e-01 -3.52754729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53862385300002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:168.43, Y:-31.22, Z:-3.53 [[ 9.63986230e-01 2.65681794e-01 1.19888694e-02 1.68428942e+02] [-2.65661068e-01 9.64060778e-01 -3.31855303e-03 -3.12201784e+01] [-1.24396779e-02 1.40635741e-05 9.99922624e-01 -3.52808530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:168.46, Y:-31.23, Z:-3.53 [[ 9.64040590e-01 2.65508615e-01 1.14418621e-02 1.68455698e+02] [-2.65489738e-01 9.64108487e-01 -3.16610893e-03 -3.12275603e+01] [-1.18718255e-02 1.45605582e-05 9.99929527e-01 -3.52896879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.48, Y:-31.24, Z:-3.53 [[ 9.64091508e-01 2.65327036e-01 1.13634198e-02 1.68481377e+02] [-2.65308413e-01 9.64158474e-01 -3.14361670e-03 -3.12354315e+01] [-1.17902240e-02 1.59232959e-05 9.99930493e-01 -3.52959716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.51, Y:-31.24, Z:-3.53 [[ 9.64127531e-01 2.65192738e-01 1.14418145e-02 1.68508362e+02] [-2.65173862e-01 9.64195422e-01 -3.16415533e-03 -3.12428362e+01] [-1.18712562e-02 1.65791359e-05 9.99929534e-01 -3.53041597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.53, Y:-31.25, Z:-3.53 [[ 9.64153351e-01 2.65101120e-01 1.13891203e-02 1.68534152e+02] [-2.65082419e-01 9.64220616e-01 -3.14880663e-03 -3.12493779e+01] [-1.18163767e-02 1.68769099e-05 9.99930184e-01 -3.53013580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.56, Y:-31.26, Z:-3.53 [[ 9.64121641e-01 2.65183624e-01 1.21287501e-02 1.68561464e+02] [-2.65162438e-01 9.64197929e-01 -3.35203346e-03 -3.12565266e+01] [-1.25834201e-02 1.56790447e-05 9.99920826e-01 -3.53146929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:168.59, Y:-31.26, Z:-3.53 [[ 9.64190124e-01 2.64934928e-01 1.21197607e-02 1.68587276e+02] [-2.64913765e-01 9.64266293e-01 -3.34870090e-03 -3.12641106e+01] [-1.25738646e-02 1.80928971e-05 9.99920946e-01 -3.53189380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:168.61, Y:-31.27, Z:-3.53 [[ 9.64232847e-01 2.64768482e-01 1.23558885e-02 1.68613953e+02] [-2.64746488e-01 9.64312009e-01 -3.41272941e-03 -3.12720313e+01] [-1.28185149e-02 1.94877021e-05 9.99917839e-01 -3.53221134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.778623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.64, Y:-31.28, Z:-3.53 [[ 9.64275981e-01 2.64620371e-01 1.21610718e-02 1.68641091e+02] [-2.64599064e-01 9.64352663e-01 -3.35802095e-03 -3.12790752e+01] [-1.26161627e-02 2.02507318e-05 9.99920413e-01 -3.53240409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:168.67, Y:-31.29, Z:-3.53 [[ 9.64308073e-01 2.64507942e-01 1.20618872e-02 1.68668438e+02] [-2.64486984e-01 9.64383507e-01 -3.32972373e-03 -3.12858521e+01] [-1.25130234e-02 2.06673084e-05 9.99921709e-01 -3.53284235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.838623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:168.69, Y:-31.29, Z:-3.53 [[ 9.64313655e-01 2.64501250e-01 1.17585444e-02 1.68694716e+02] [-2.64481342e-01 9.64385342e-01 -3.24521197e-03 -3.12933271e+01] [-1.21981304e-02 1.94866279e-05 9.99925600e-01 -3.53348172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:168.72, Y:-31.30, Z:-3.53 [[ 9.64374879e-01 2.64273859e-01 1.18498984e-02 1.68721932e+02] [-2.64253637e-01 9.64447680e-01 -3.26928268e-03 -3.13008214e+01] [-1.22925930e-02 2.14353422e-05 9.99924443e-01 -3.53410930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.898623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.75, Y:-31.31, Z:-3.53 [[ 9.64336437e-01 2.64409472e-01 1.19526940e-02 1.68749135e+02] [-2.64388919e-01 9.64410510e-01 -3.29673745e-03 -3.13080843e+01] [-1.23989923e-02 1.90042112e-05 9.99923129e-01 -3.53468496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:168.78, Y:-31.31, Z:-3.53 [[ 9.64243829e-01 2.64740220e-01 1.21018295e-02 1.68776630e+02] [-2.64719189e-01 9.64319768e-01 -3.33693086e-03 -3.13144328e+01] [-1.25534533e-02 1.40284900e-05 9.99921202e-01 -3.53464890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.958623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.80, Y:-31.32, Z:-3.54 [[ 9.64212951e-01 2.64840419e-01 1.23668201e-02 1.68804035e+02] [-2.64818478e-01 9.64292255e-01 -3.40903439e-03 -3.13214877e+01] [-1.28280790e-02 1.20726264e-05 9.99917717e-01 -3.53518252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.83, Y:-31.33, Z:-3.54 [[ 9.64172357e-01 2.64987291e-01 1.23855366e-02 1.68830327e+02] [-2.64965307e-01 9.64251904e-01 -3.41333268e-03 -3.13279581e+01] [-1.28472670e-02 9.30350661e-06 9.99917470e-01 -3.53597479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.018623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:168.86, Y:-31.33, Z:-3.54 [[ 9.64162651e-01 2.65025887e-01 1.23150899e-02 1.68858327e+02] [-2.65004170e-01 9.64241297e-01 -3.39276671e-03 -3.13333479e+01] [-1.27738892e-02 7.62878496e-06 9.99918411e-01 -3.53703098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.048623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:168.89, Y:-31.34, Z:-3.54 [[ 9.64293014e-01 2.64546155e-01 1.24223395e-02 1.68886044e+02] [-2.64524030e-01 9.64373025e-01 -3.42138560e-03 -3.13398504e+01] [-1.28848836e-02 1.32109215e-05 9.99916986e-01 -3.53778714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.078623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:168.91, Y:-31.35, Z:-3.54 [[ 9.64489017e-01 2.63839630e-01 1.22305156e-02 1.68912073e+02] [-2.63818133e-01 9.64566560e-01 -3.36802118e-03 -3.13464967e+01] [-1.26857639e-02 2.17876372e-05 9.99919532e-01 -3.53816060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.108623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:168.94, Y:-31.35, Z:-3.54 [[ 9.64757052e-01 2.62859527e-01 1.21942522e-02 1.68939301e+02] [-2.62838104e-01 9.64834114e-01 -3.35609297e-03 -3.13536828e+01] [-1.26476116e-02 3.27002247e-05 9.99920015e-01 -3.53861101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.97, Y:-31.36, Z:-3.54 [[ 9.65437838e-01 2.60357913e-01 1.19807372e-02 1.68965645e+02] [-2.60337050e-01 9.65512171e-01 -3.29654109e-03 -3.13610922e+01] [-1.24258282e-02 6.35757060e-05 9.99922794e-01 -3.53944277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.168623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:168.99, Y:-31.37, Z:-3.54 [[ 9.65813092e-01 2.58968472e-01 1.18491662e-02 1.68992918e+02] [-2.58947974e-01 9.65885772e-01 -3.25923102e-03 -3.13682560e+01] [-1.22889791e-02 7.94904028e-05 9.99924484e-01 -3.53969767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.02, Y:-31.38, Z:-3.54 [[ 9.66156715e-01 2.57676379e-01 1.20035570e-02 1.69019875e+02] [-2.57655255e-01 9.66231274e-01 -3.30081336e-03 -3.13754691e+01] [-1.24487538e-02 9.63234488e-05 9.99922507e-01 -3.54007270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:169.05, Y:-31.38, Z:-3.54 [[ 9.66544510e-01 2.56207329e-01 1.22276408e-02 1.69047025e+02] [-2.56185302e-01 9.66621845e-01 -3.36154223e-03 -3.13827913e+01] [-1.26807565e-02 1.16538333e-04 9.99919589e-01 -3.54037228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.07, Y:-31.39, Z:-3.54 [[ 9.67353592e-01 2.53142630e-01 1.20762622e-02 1.69072418e+02] [-2.53120916e-01 9.67428956e-01 -3.31912584e-03 -3.13905212e+01] [-1.25231379e-02 1.54013763e-04 9.99921571e-01 -3.54127330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.10, Y:-31.40, Z:-3.54 [[ 9.67771898e-01 2.51546324e-01 1.19164348e-02 1.69098949e+02] [-2.51525073e-01 9.67845245e-01 -3.27409058e-03 -3.13985851e+01] [-1.23568502e-02 1.71290711e-04 9.99923637e-01 -3.54188828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.13, Y:-31.41, Z:-3.54 [[ 9.68180972e-01 2.49959825e-01 1.20702854e-02 1.69125390e+02] [-2.49937909e-01 9.68256190e-01 -3.31553826e-03 -3.14068231e+01] [-1.25158799e-02 1.93219170e-04 9.99921655e-01 -3.54192488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:169.15, Y:-31.41, Z:-3.54 [[ 9.68602118e-01 2.48321383e-01 1.21007182e-02 1.69152372e+02] [-2.48299241e-01 9.68677679e-01 -3.32296265e-03 -3.14149645e+01] [-1.25468583e-02 2.14029506e-04 9.99921262e-01 -3.54280417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:169.18, Y:-31.43, Z:-3.54 [[ 9.69220539e-01 2.45881071e-01 1.24115469e-02 1.69178775e+02] [-2.45857590e-01 9.69299972e-01 -3.40722090e-03 -3.14257091e+01] [-1.28682832e-02 2.50875451e-04 9.99917169e-01 -3.54292955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:169.21, Y:-31.43, Z:-3.54 [[ 9.69454971e-01 2.44952780e-01 1.24577185e-02 1.69205821e+02] [-2.44929057e-01 9.69534974e-01 -3.41916351e-03 -3.14346131e+01] [-1.29157274e-02 2.63467807e-04 9.99916554e-01 -3.54323454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:169.23, Y:-31.44, Z:-3.54 [[ 9.69601920e-01 2.44365829e-01 1.25482285e-02 1.69231820e+02] [-2.44341725e-01 9.69683076e-01 -3.44292737e-03 -3.14431714e+01] [-1.30091386e-02 2.72213182e-04 9.99915341e-01 -3.54391349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.26, Y:-31.45, Z:-3.54 [[ 9.69681943e-01 2.44039211e-01 1.27197658e-02 1.69257787e+02] [-2.44014427e-01 9.69765325e-01 -3.48914739e-03 -3.14518596e+01] [-1.31866766e-02 2.79556858e-04 9.99913013e-01 -3.54423751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.29, Y:-31.46, Z:-3.54 [[ 9.69765181e-01 2.43673350e-01 1.33713558e-02 1.69285485e+02] [-2.43645940e-01 9.69857314e-01 -3.66691312e-03 -3.14609212e+01] [-1.38618362e-02 2.98168119e-04 9.99903876e-01 -3.54465668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.31, Y:-31.47, Z:-3.54 [[ 9.69729059e-01 2.43806362e-01 1.35650080e-02 1.69312284e+02] [-2.43778176e-01 9.69823885e-01 -3.71930492e-03 -3.14725785e+01] [-1.40624589e-02 2.99865169e-04 9.99901074e-01 -3.54478828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.558623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.34, Y:-31.48, Z:-3.55 [[ 9.69624742e-01 2.44225269e-01 1.34862303e-02 1.69338351e+02] [-2.44197458e-01 9.69718481e-01 -3.69707987e-03 -3.14819920e+01] [-1.39807670e-02 2.91476969e-04 9.99902222e-01 -3.54509053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.37, Y:-31.49, Z:-3.55 [[ 9.69496158e-01 2.44728168e-01 1.36133592e-02 1.69365323e+02] [-2.44699893e-01 9.69591688e-01 -3.73098277e-03 -3.14917026e+01] [-1.41124765e-02 2.85985922e-04 9.99900373e-01 -3.54563749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.618623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.39, Y:-31.50, Z:-3.55 [[ 9.69004190e-01 2.46675198e-01 1.34991270e-02 1.69390544e+02] [-2.46647593e-01 9.69098180e-01 -3.69905300e-03 -3.15031407e+01] [-1.39944440e-02 2.54870674e-04 9.99902040e-01 -3.54587480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.42, Y:-31.51, Z:-3.55 [[ 9.68663102e-01 2.48017434e-01 1.33846192e-02 1.69417632e+02] [-2.47990436e-01 9.68755541e-01 -3.66675931e-03 -3.15127414e+01] [-1.38758443e-02 2.32596885e-04 9.99903699e-01 -3.54638151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.44, Y:-31.52, Z:-3.55 [[ 9.68255053e-01 2.49613328e-01 1.32415383e-02 1.69444407e+02] [-2.49587061e-01 9.68345570e-01 -3.62696639e-03 -3.15218720e+01] [-1.37277241e-02 2.06911903e-04 9.99905749e-01 -3.54710599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:169.47, Y:-31.53, Z:-3.55 [[ 9.67764197e-01 2.51527545e-01 1.28977784e-02 1.69471309e+02] [-2.51502804e-01 9.67850125e-01 -3.53209399e-03 -3.15312089e+01] [-1.33715353e-02 1.74406676e-04 9.99910582e-01 -3.54739478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:169.50, Y:-31.54, Z:-3.55 [[ 9.66760876e-01 2.55368032e-01 1.26718607e-02 1.69496805e+02] [-2.55344493e-01 9.66843914e-01 -3.46930350e-03 -3.15426558e+01] [-1.31376606e-02 1.18297062e-04 9.99913690e-01 -3.54811425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.768623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:169.52, Y:-31.55, Z:-3.55 [[ 9.66244122e-01 2.57330981e-01 1.23718591e-02 1.69521889e+02] [-2.57308712e-01 9.66323320e-01 -3.38647476e-03 -3.15518176e+01] [-1.28266608e-02 8.87742109e-05 9.99917731e-01 -3.54812262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.798623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:169.55, Y:-31.56, Z:-3.55 [[ 9.65616880e-01 2.59650759e-01 1.28656209e-02 1.69548733e+02] [-2.59626907e-01 9.65702584e-01 -3.51982207e-03 -3.15612222e+01] [-1.33382878e-02 5.85382364e-05 9.99911039e-01 -3.54857188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.58, Y:-31.57, Z:-3.55 [[ 9.64936722e-01 2.62149164e-01 1.32264022e-02 1.69575523e+02] [-2.62124199e-01 9.65027365e-01 -3.61788783e-03 -3.15706791e+01] [-1.37122664e-02 2.40727348e-05 9.99905982e-01 -3.54872758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.858623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:169.60, Y:-31.58, Z:-3.55 [[ 9.63643432e-01 2.66819889e-01 1.40884315e-02 1.69601650e+02] [-2.66792075e-01 9.63746411e-01 -3.85276506e-03 -3.15806291e+01] [-1.46056697e-02 -4.59901430e-05 9.99893330e-01 -3.54866219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.888623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.63, Y:-31.59, Z:-3.55 [[ 9.63002200e-01 2.69117533e-01 1.42307904e-02 1.69629512e+02] [-2.69089423e-01 9.63107339e-01 -3.89049361e-03 -3.15896063e+01] [-1.47527787e-02 -8.28012805e-05 9.99891168e-01 -3.54896588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.918623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:169.66, Y:-31.60, Z:-3.55 [[ 9.62453755e-01 2.71073681e-01 1.42066224e-02 1.69657412e+02] [-2.71045890e-01 9.62558594e-01 -3.88318584e-03 -3.15983212e+01] [-1.47273360e-02 -1.13259815e-04 9.99891540e-01 -3.54982909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.68, Y:-31.61, Z:-3.55 [[ 9.61475693e-01 2.74571736e-01 1.32231971e-02 1.69684098e+02] [-2.74547997e-01 9.61566606e-01 -3.61382638e-03 -3.16080004e+01] [-1.37072393e-02 -1.55796046e-04 9.99906039e-01 -3.55072263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.71, Y:-31.62, Z:-3.55 [[ 9.61004677e-01 2.76233623e-01 1.28450800e-02 1.69711866e+02] [-2.76211382e-01 9.61090503e-01 -3.50962021e-03 -3.16165006e+01] [-1.33147595e-02 -1.75195851e-04 9.99911339e-01 -3.55165485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.74, Y:-31.62, Z:-3.55 [[ 9.60559167e-01 2.77795916e-01 1.24706312e-02 1.69738195e+02] [-2.77775091e-01 9.60640095e-01 -3.40677502e-03 -3.16240226e+01] [-1.29261766e-02 -1.91621748e-04 9.99916435e-01 -3.55209627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.77, Y:-31.63, Z:-3.55 [[ 9.60090214e-01 2.79405697e-01 1.26188990e-02 1.69765713e+02] [-2.79384525e-01 9.60173114e-01 -3.44638749e-03 -3.16316812e+01] [-1.30792679e-02 -2.16682204e-04 9.99914439e-01 -3.55299935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.79, Y:-31.64, Z:-3.55 [[ 9.60100439e-01 2.79370553e-01 1.26190865e-02 1.69794028e+02] [-2.79349387e-01 9.60183340e-01 -3.44570080e-03 -3.16393282e+01] [-1.30792640e-02 -2.16915226e-04 9.99914439e-01 -3.55356523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.82, Y:-31.65, Z:-3.55 [[ 9.59740416e-01 2.80603520e-01 1.26490673e-02 1.69820682e+02] [-2.80582365e-01 9.59823739e-01 -3.45354237e-03 -3.16463213e+01] [-1.31099512e-02 -2.34601025e-04 9.99914033e-01 -3.55400995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:169.85, Y:-31.65, Z:-3.55 [[ 9.59127324e-01 2.82694471e-01 1.25941518e-02 1.69847267e+02] [-2.82673690e-01 9.59209970e-01 -3.43772694e-03 -3.16529143e+01] [-1.30522624e-02 -2.62817526e-04 9.99914781e-01 -3.55439853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.88, Y:-31.66, Z:-3.56 [[ 9.58977191e-01 2.83185659e-01 1.29857778e-02 1.69875383e+02] [-2.83163623e-01 9.59065068e-01 -3.54369166e-03 -3.16598912e+01] [-1.34577286e-02 -2.78780428e-04 9.99909402e-01 -3.55527155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.90, Y:-31.67, Z:-3.56 [[ 9.58801747e-01 2.83781759e-01 1.29276177e-02 1.69902336e+02] [-2.83759982e-01 9.58888852e-01 -3.52721534e-03 -3.16669746e+01] [-1.33971078e-02 -2.86440326e-04 9.99910214e-01 -3.55592057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:-31.67, Z:-3.56 [[ 9.58684190e-01 2.84180529e-01 1.28861087e-02 1.69929310e+02] [-2.84158939e-01 9.58770745e-01 -3.51502631e-03 -3.16738275e+01] [-1.33537261e-02 -2.91902830e-04 9.99910792e-01 -3.55639584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:169.96, Y:-31.68, Z:-3.56 [[ 9.58596587e-01 2.84485124e-01 1.26806004e-02 1.69956049e+02] [-2.84464254e-01 9.58680410e-01 -3.45825987e-03 -3.16798252e+01] [-1.31404667e-02 -2.92101416e-04 9.99913618e-01 -3.55688358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.278623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:169.98, Y:-31.69, Z:-3.56 [[ 9.58613820e-01 2.84425134e-01 1.27235241e-02 1.69982679e+02] [-2.84404128e-01 9.58698210e-01 -3.46908822e-03 -3.16866368e+01] [-1.31847156e-02 -2.93106854e-04 9.99913035e-01 -3.55773078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.01, Y:-31.69, Z:-3.56 [[ 9.58712537e-01 2.84095236e-01 1.26557689e-02 1.70009781e+02] [-2.84074440e-01 9.58796023e-01 -3.44946000e-03 -3.16933702e+01] [-1.31142761e-02 -2.88139923e-04 9.99913963e-01 -3.55816788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.04, Y:-31.70, Z:-3.56 [[ 9.58908766e-01 2.83438942e-01 1.25037918e-02 1.70036869e+02] [-2.83418599e-01 9.58990245e-01 -3.40713161e-03 -3.16996969e+01] [-1.29567281e-02 -2.76678772e-04 9.99916020e-01 -3.55881664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:170.06, Y:-31.71, Z:-3.56 [[ 9.59424333e-01 2.81713770e-01 1.19290300e-02 1.70063931e+02] [-2.81695132e-01 9.59498459e-01 -3.24958474e-03 -3.17054240e+01] [-1.23613386e-02 -2.42618998e-04 9.99923566e-01 -3.56011046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.398623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:170.09, Y:-31.71, Z:-3.56 [[ 9.59768656e-01 2.80540834e-01 1.18729781e-02 1.70090395e+02] [-2.80522288e-01 9.59842065e-01 -3.23372611e-03 -3.17121982e+01] [-1.23033760e-02 -2.27006031e-04 9.99924285e-01 -3.56059802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.12, Y:-31.72, Z:-3.56 [[ 9.60191487e-01 2.79088156e-01 1.19209731e-02 1.70117895e+02] [-2.79069362e-01 9.60265462e-01 -3.24569829e-03 -3.17188377e+01] [-1.23531346e-02 -2.10286473e-04 9.99923675e-01 -3.56094863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.14, Y:-31.72, Z:-3.56 [[ 9.60534041e-01 2.77910908e-01 1.18272420e-02 1.70144655e+02] [-2.77892331e-01 9.60606834e-01 -3.21920007e-03 -3.17249913e+01] [-1.22559803e-02 -1.94548593e-04 9.99924874e-01 -3.56133799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.17, Y:-31.73, Z:-3.56 [[ 9.61310179e-01 2.75198799e-01 1.21803752e-02 1.70171117e+02] [-2.75178886e-01 9.61387328e-01 -3.31465833e-03 -3.17298631e+01] [-1.26222483e-02 -1.65367274e-04 9.99920323e-01 -3.56218883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.518623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:170.20, Y:-31.74, Z:-3.56 [[ 9.61696118e-01 2.73837184e-01 1.24005279e-02 1.70198279e+02] [-2.73816446e-01 9.61776052e-01 -3.37340722e-03 -3.17365582e+01] [-1.28502951e-02 -1.51275862e-04 9.99917420e-01 -3.56270127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:-31.74, Z:-3.56 [[ 9.62071604e-01 2.72509318e-01 1.25259799e-02 1.70225419e+02] [-2.72488060e-01 9.62153134e-01 -3.40649367e-03 -3.17436568e+01] [-1.29802121e-02 -1.35889133e-04 9.99915744e-01 -3.56326940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.578623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.25, Y:-31.75, Z:-3.56 [[ 9.62789203e-01 2.69977584e-01 1.22088217e-02 1.70252546e+02] [-2.69957194e-01 9.62866602e-01 -3.31958285e-03 -3.17499841e+01] [-1.26516796e-02 -9.98007217e-05 9.99919959e-01 -3.56394040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:-31.76, Z:-3.56 [[ 9.63095119e-01 2.68873091e-01 1.24520199e-02 1.70279829e+02] [-2.68851801e-01 9.63175609e-01 -3.38466921e-03 -3.17572619e+01] [-1.29035283e-02 -8.79895782e-05 9.99916742e-01 -3.56398947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.31, Y:-31.76, Z:-3.56 [[ 9.63353483e-01 2.67934103e-01 1.27036964e-02 1.70307488e+02] [-2.67911873e-01 9.63437237e-01 -3.45221032e-03 -3.17643281e+01] [-1.31641790e-02 -7.77722666e-05 9.99913345e-01 -3.56461446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.668623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:170.33, Y:-31.77, Z:-3.56 [[ 9.63606156e-01 2.67021480e-01 1.27555692e-02 1.70334473e+02] [-2.66998996e-01 9.63690575e-01 -3.46571570e-03 -3.17709270e+01] [-1.32178424e-02 -6.61391960e-05 9.99912638e-01 -3.56491740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.36, Y:-31.78, Z:-3.57 [[ 9.63914042e-01 2.65907778e-01 1.27582594e-02 1.70362144e+02] [-2.65885198e-01 9.63998470e-01 -3.46567249e-03 -3.17771590e+01] [-1.32204918e-02 -5.16219298e-05 9.99912604e-01 -3.56611148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:-31.78, Z:-3.57 [[ 9.63992015e-01 2.65629513e-01 1.26632502e-02 1.70389656e+02] [-2.65607255e-01 9.64075184e-01 -3.43895983e-03 -3.17840031e+01] [-1.31218145e-02 -4.83213033e-05 9.99913904e-01 -3.56664983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.42, Y:-31.79, Z:-3.57 [[ 9.63988534e-01 2.65632474e-01 1.28645259e-02 1.70416841e+02] [-2.65609516e-01 9.64074368e-01 -3.49267669e-03 -3.17909331e+01] [-1.33301280e-02 -5.00402131e-05 9.99911149e-01 -3.56713214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.44, Y:-31.80, Z:-3.57 [[ 9.63913240e-01 2.65898188e-01 1.30161079e-02 1.70444229e+02] [-2.65874724e-01 9.64001116e-01 -3.53274700e-03 -3.17978094e+01] [-1.34868935e-02 -5.53924866e-05 9.99909046e-01 -3.56810298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:170.47, Y:-31.80, Z:-3.56 [[ 9.63468247e-01 2.67504650e-01 1.30460545e-02 1.70471846e+02] [-2.67481235e-01 9.63556566e-01 -3.54012626e-03 -3.18021000e+01] [-1.35176117e-02 -7.87755212e-05 9.99908630e-01 -3.56223294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:-31.81, Z:-3.57 [[ 9.63306493e-01 2.68066930e-01 1.34432720e-02 1.70498438e+02] [-2.68042138e-01 9.63400287e-01 -3.64682152e-03 -3.18086729e+01] [-1.39288443e-02 -9.03565206e-05 9.99902985e-01 -3.56867856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:-31.81, Z:-3.57 [[ 9.63083169e-01 2.68882789e-01 1.31474577e-02 1.70525004e+02] [-2.68859163e-01 9.63172900e-01 -3.56577448e-03 -3.18143072e+01] [-1.36220504e-02 -1.00677091e-04 9.99907210e-01 -3.56967912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:170.55, Y:-31.82, Z:-3.57 [[ 9.62840833e-01 2.69753783e-01 1.30547433e-02 1.70552363e+02] [-2.69730592e-01 9.62929324e-01 -3.53900319e-03 -3.18198145e+01] [-1.35254546e-02 -1.13766844e-04 9.99908520e-01 -3.57064543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.58, Y:-31.82, Z:-3.57 [[ 9.62504531e-01 2.70966911e-01 1.27264122e-02 1.70579725e+02] [-2.70944990e-01 9.62588654e-01 -3.44905944e-03 -3.18242388e+01] [-1.31848809e-02 -1.28422281e-04 9.99913067e-01 -3.57162542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.61, Y:-31.83, Z:-3.57 [[ 9.62371824e-01 2.71451004e-01 1.24428878e-02 1.70606271e+02] [-2.71430098e-01 9.62452251e-01 -3.37150567e-03 -3.18304317e+01] [-1.28908839e-02 -1.32732191e-04 9.99916900e-01 -3.57213093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.63, Y:-31.84, Z:-3.57 [[ 9.62283693e-01 2.71775738e-01 1.21672865e-02 1.70632754e+02] [-2.71755791e-01 9.62360603e-01 -3.29549628e-03 -3.18359625e+01] [-1.26049531e-02 -1.35328243e-04 9.99920545e-01 -3.57276892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.66, Y:-31.84, Z:-3.57 [[ 9.62131722e-01 2.72303327e-01 1.23874033e-02 1.70660021e+02] [-2.72282719e-01 9.62211451e-01 -3.35333046e-03 -3.18413450e+01] [-1.28324243e-02 -1.46530222e-04 9.99917650e-01 -3.57392477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.058623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.69, Y:-31.84, Z:-3.57 [[ 9.61901176e-01 2.73118228e-01 1.23515271e-02 1.70687595e+02] [-2.73097817e-01 9.61980462e-01 -3.34277235e-03 -3.18447093e+01] [-1.27948998e-02 -1.57758423e-04 9.99918129e-01 -3.57416290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:170.72, Y:-31.85, Z:-3.57 [[ 9.61780521e-01 2.73544041e-01 1.23242047e-02 1.70715324e+02] [-2.73523769e-01 9.61859465e-01 -3.33423621e-03 -3.18492914e+01] [-1.27662134e-02 -1.64159490e-04 9.99918495e-01 -3.56846842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:170.74, Y:-31.86, Z:-3.58 [[ 9.61917808e-01 2.73042162e-01 1.27321491e-02 1.70741539e+02] [-2.73020494e-01 9.62002053e-01 -3.44366366e-03 -3.18558900e+01] [-1.31886189e-02 -1.63616237e-04 9.99913013e-01 -3.57517261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:170.77, Y:-31.86, Z:-3.57 [[ 9.61889491e-01 2.73146937e-01 1.26237096e-02 1.70769692e+02] [-2.73125661e-01 9.61972309e-01 -3.41317241e-03 -3.18614150e+01] [-1.30759567e-02 -1.64764354e-04 9.99914492e-01 -3.56890702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.80, Y:-31.87, Z:-3.58 [[ 9.62542887e-01 2.70812287e-01 1.31109368e-02 1.70797009e+02] [-2.70789134e-01 9.62632165e-01 -3.54384771e-03 -3.18665746e+01] [-1.35807270e-02 -1.39193836e-04 9.99907768e-01 -3.57683119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:-31.87, Z:-3.58 [[ 9.62953764e-01 2.69343155e-01 1.32027924e-02 1.70822987e+02] [-2.69319552e-01 9.63044262e-01 -3.56772366e-03 -3.18724546e+01] [-1.36758154e-02 -1.20217215e-04 9.99906474e-01 -3.57766563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:-31.88, Z:-3.58 [[ 9.63448847e-01 2.67568972e-01 1.31591823e-02 1.70849592e+02] [-2.67545375e-01 9.63538705e-01 -3.55477252e-03 -3.18787892e+01] [-1.36305283e-02 -9.58368628e-05 9.99907095e-01 -3.57853498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.88, Y:-31.88, Z:-3.58 [[ 9.64052085e-01 2.65380119e-01 1.33030341e-02 1.70875827e+02] [-2.65355811e-01 9.64143863e-01 -3.59242586e-03 -3.18848734e+01] [-1.37793971e-02 -6.67517511e-05 9.99905057e-01 -3.57889778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.90, Y:-31.89, Z:-3.58 [[ 9.65232777e-01 2.61041666e-01 1.35253425e-02 1.70903176e+02] [-2.61016129e-01 9.65327534e-01 -3.65124776e-03 -3.18915920e+01] [-1.40095133e-02 -6.02852766e-06 9.99901862e-01 -3.58024499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.93, Y:-31.90, Z:-3.58 [[ 9.65842410e-01 2.58780413e-01 1.34587088e-02 1.70929028e+02] [-2.58754921e-01 9.65936177e-01 -3.63230536e-03 -3.18988672e+01] [-1.39402232e-02 2.57274201e-05 9.99902830e-01 -3.58055733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.358623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.96, Y:-31.91, Z:-3.58 [[ 9.66472259e-01 2.56410621e-01 1.36002555e-02 1.70956406e+02] [-2.56384373e-01 9.66567944e-01 -3.66923437e-03 -3.19065375e+01] [-1.40864017e-02 5.93202374e-05 9.99900780e-01 -3.58174853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:170.98, Y:-31.91, Z:-3.58 [[ 9.67474850e-01 2.52620092e-01 1.32477540e-02 1.70983341e+02] [-2.52594846e-01 9.67565541e-01 -3.57305991e-03 -3.19147869e+01] [-1.37206970e-02 1.10531230e-04 9.99905861e-01 -3.58226782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:-31.92, Z:-3.58 [[ 9.67870158e-01 2.51114929e-01 1.29865301e-02 1.71009712e+02] [-2.51090544e-01 9.67957270e-01 -3.50186139e-03 -3.19226280e+01] [-1.34497759e-02 1.28552225e-04 9.99909539e-01 -3.58278252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.04, Y:-31.93, Z:-3.58 [[ 9.68171503e-01 2.49958247e-01 1.28380542e-02 1.71035730e+02] [-2.49934325e-01 9.68256606e-01 -3.46103775e-03 -3.19306539e+01] [-1.32956457e-02 1.42207711e-04 9.99911599e-01 -3.58336543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.06, Y:-31.94, Z:-3.58 [[ 9.68374739e-01 2.49157603e-01 1.30711024e-02 1.71062124e+02] [-2.49132755e-01 9.68462939e-01 -3.52215855e-03 -3.19386803e+01] [-1.35364509e-02 1.54329607e-04 9.99908366e-01 -3.58400770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.09, Y:-31.95, Z:-3.58 [[ 9.68530777e-01 2.48543026e-01 1.32097865e-02 1.71088236e+02] [-2.48517602e-01 9.68620843e-01 -3.55868842e-03 -3.19465308e+01] [-1.36797617e-02 1.63834786e-04 9.99906414e-01 -3.58425814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.12, Y:-31.95, Z:-3.58 [[ 9.68465000e-01 2.48767464e-01 1.37946835e-02 1.71115098e+02] [-2.48739787e-01 9.68563225e-01 -3.71449608e-03 -3.19548472e+01] [-1.42850689e-02 1.66072811e-04 9.99897949e-01 -3.58436818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.14, Y:-31.96, Z:-3.58 [[ 9.68392617e-01 2.49044372e-01 1.38794741e-02 1.71142199e+02] [-2.49016397e-01 9.68492062e-01 -3.73625555e-03 -3.19623620e+01] [-1.43726539e-02 1.61945648e-04 9.99896695e-01 -3.58452822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.17, Y:-31.97, Z:-3.59 [[ 9.68079083e-01 2.50253939e-01 1.39948231e-02 1.71169049e+02] [-2.50225640e-01 9.68180224e-01 -3.76617204e-03 -3.19707078e+01] [-1.44920104e-02 1.44088807e-04 9.99894975e-01 -3.58540760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.20, Y:-31.98, Z:-3.59 [[ 9.67889720e-01 2.50999568e-01 1.37370409e-02 1.71195449e+02] [-2.50972389e-01 9.67987190e-01 -3.69595574e-03 -3.19784095e+01] [-1.42249630e-02 1.29659584e-04 9.99898812e-01 -3.58590392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.22, Y:-31.99, Z:-3.59 [[ 9.67658581e-01 2.51886428e-01 1.37876404e-02 1.71222488e+02] [-2.51859149e-01 9.67756795e-01 -3.70876077e-03 -3.19864211e+01] [-1.42772692e-02 1.16270804e-04 9.99898068e-01 -3.58676155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.25, Y:-31.99, Z:-3.59 [[ 9.67394788e-01 2.52896575e-01 1.38074578e-02 1.71248941e+02] [-2.52869337e-01 9.67493314e-01 -3.71298707e-03 -3.19940904e+01] [-1.42976248e-02 1.00441634e-04 9.99897779e-01 -3.58696559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71862385300003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:171.28, Y:-32.00, Z:-3.59 [[ 9.66721510e-01 2.55437110e-01 1.41916938e-02 1.71275125e+02] [-2.55408621e-01 9.66825671e-01 -3.81545168e-03 -3.20026752e+01] [-1.46955018e-02 6.37982799e-05 9.99892013e-01 -3.58755838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:171.30, Y:-32.01, Z:-3.59 [[ 9.66336626e-01 2.56881475e-01 1.43329224e-02 1.71301887e+02] [-2.56852591e-01 9.66442914e-01 -3.85233486e-03 -3.20103121e+01] [-1.48415447e-02 4.12040157e-05 9.99889857e-01 -3.58856763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.33, Y:-32.02, Z:-3.59 [[ 9.65942175e-01 2.58369050e-01 1.41827071e-02 1.71328335e+02] [-2.58340945e-01 9.66046290e-01 -3.81082448e-03 -3.20175845e+01] [-1.46857506e-02 1.70621341e-05 9.99892158e-01 -3.58859594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.36, Y:-32.02, Z:-3.59 [[ 9.65544047e-01 2.59855292e-01 1.41392884e-02 1.71355437e+02] [-2.59827532e-01 9.65647569e-01 -3.79825420e-03 -3.20248197e+01] [-1.46405659e-02 -6.39468180e-06 9.99892821e-01 -3.58881192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.838623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.38, Y:-32.03, Z:-3.59 [[ 9.64555951e-01 2.63496675e-01 1.41887084e-02 1.71382592e+02] [-2.63469126e-01 9.64660302e-01 -3.81068510e-03 -3.20321128e+01] [-1.46913866e-02 -6.26676037e-05 9.99892074e-01 -3.58642954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:171.41, Y:-32.04, Z:-3.58 [[ 9.63969280e-01 2.65644776e-01 1.40028443e-02 1.71409042e+02] [-2.65618184e-01 9.64070975e-01 -3.75978841e-03 -3.20387328e+01] [-1.44985039e-02 -9.50895551e-05 9.99894887e-01 -3.58351575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.44, Y:-32.05, Z:-3.59 [[ 9.63513355e-01 2.67271925e-01 1.44129307e-02 1.71435944e+02] [-2.67243955e-01 9.63621141e-01 -3.86854176e-03 -3.20457658e+01] [-1.49225573e-02 -1.24376956e-04 9.99888645e-01 -3.59053836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.46, Y:-32.05, Z:-3.59 [[ 9.62549123e-01 2.70752765e-01 1.38609313e-02 1.71463825e+02] [-2.70727272e-01 9.62648903e-01 -3.71939811e-03 -3.20512340e+01] [-1.43502476e-02 -1.72428716e-04 9.99897015e-01 -3.59108730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.49, Y:-32.06, Z:-3.59 [[ 9.62186672e-01 2.72035817e-01 1.39040796e-02 1.71490512e+02] [-2.72010313e-01 9.62287107e-01 -3.72999823e-03 -3.20572404e+01] [-1.43944097e-02 -1.93098460e-04 9.99896376e-01 -3.59157349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.52, Y:-32.06, Z:-3.59 [[ 9.62201767e-01 2.71982401e-01 1.39044102e-02 1.71518068e+02] [-2.71956908e-01 9.62302206e-01 -3.72876536e-03 -3.20644929e+01] [-1.43944032e-02 -1.93575805e-04 9.99896376e-01 -3.59212324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.55, Y:-32.07, Z:-3.59 [[ 9.61934827e-01 2.72921341e-01 1.39760721e-02 1.71545670e+02] [-2.72895696e-01 9.62036329e-01 -3.74720228e-03 -3.20709346e+01] [-1.44681806e-02 -2.09445553e-04 9.99895308e-01 -3.59274273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.57, Y:-32.08, Z:-3.59 [[ 9.61766955e-01 2.73501521e-01 1.41859782e-02 1.71573456e+02] [-2.73475178e-01 9.61871545e-01 -3.80244921e-03 -3.20771195e+01] [-1.46850644e-02 -2.22442921e-04 9.99892144e-01 -3.59354624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:-32.08, Z:-3.59 [[ 9.61766283e-01 2.73513793e-01 1.39936633e-02 1.71600153e+02] [-2.73488174e-01 9.61868056e-01 -3.74996034e-03 -3.20828294e+01] [-1.44857235e-02 -2.20515997e-04 9.99895052e-01 -3.59414974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.108623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:171.63, Y:-32.09, Z:-3.60 [[ 9.62031148e-01 2.72596583e-01 1.36811561e-02 1.71626966e+02] [-2.72572019e-01 9.62128402e-01 -3.66509053e-03 -3.20880399e+01] [-1.41621200e-02 -2.03169080e-04 9.99899692e-01 -3.59519753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.138623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:171.65, Y:-32.09, Z:-3.59 [[ 9.62206422e-01 2.72001768e-01 1.31848686e-02 1.71654591e+02] [-2.71978912e-01 9.62296733e-01 -3.53108061e-03 -3.20941494e+01] [-1.36482161e-02 -1.88377772e-04 9.99906841e-01 -3.59118113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.68, Y:-32.10, Z:-3.60 [[ 9.62572104e-01 2.70680135e-01 1.36824300e-02 1.71680277e+02] [-2.70655402e-01 9.62669327e-01 -3.66330794e-03 -3.21003555e+01] [-1.41632404e-02 -1.77025580e-04 9.99899681e-01 -3.59609965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:171.71, Y:-32.11, Z:-3.60 [[ 9.62891729e-01 2.69527145e-01 1.39512413e-02 1.71707891e+02] [-2.69501330e-01 9.62992778e-01 -3.73394133e-03 -3.21066289e+01] [-1.44413432e-02 -1.64496871e-04 9.99895705e-01 -3.59636749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:171.73, Y:-32.11, Z:-3.60 [[ 9.63418948e-01 2.67612983e-01 1.43951863e-02 1.71734595e+02] [-2.67585297e-01 9.63526477e-01 -3.85196641e-03 -3.21123686e+01] [-1.49009794e-02 -1.40882775e-04 9.99888964e-01 -3.59729314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:171.76, Y:-32.12, Z:-3.59 [[ 9.63604530e-01 2.66951791e-01 1.42496007e-02 1.71762371e+02] [-2.66924619e-01 9.63709875e-01 -3.81099282e-03 -3.21182915e+01] [-1.47498323e-02 -1.31279307e-04 9.99891207e-01 -3.59242637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.79, Y:-32.12, Z:-3.60 [[ 9.63909155e-01 2.65813871e-01 1.49039055e-02 1.71789960e+02] [-2.65784026e-01 9.64024363e-01 -3.98492897e-03 -3.21249933e+01] [-1.54269774e-02 -1.20110483e-04 9.99880990e-01 -3.59777899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.82, Y:-32.13, Z:-3.60 [[ 9.64160996e-01 2.64884392e-01 1.51602318e-02 1.71816883e+02] [-2.64853416e-01 9.64280170e-01 -4.05229335e-03 -3.21309461e+01] [-1.56921002e-02 -1.08175986e-04 9.99876866e-01 -3.59869413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.84, Y:-32.14, Z:-3.60 [[ 9.64711227e-01 2.62928248e-01 1.41769133e-02 1.71843578e+02] [-2.62900960e-01 9.64815387e-01 -3.78867403e-03 -3.21361022e+01] [-1.46742536e-02 -7.21477531e-05 9.99892325e-01 -3.59978557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:-32.14, Z:-3.60 [[ 9.65001491e-01 2.61888622e-01 1.36554754e-02 1.71870525e+02] [-2.61863225e-01 9.65098102e-01 -3.64758173e-03 -3.21427751e+01] [-1.41341335e-02 -5.59450056e-05 9.99900107e-01 -3.60073329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.90, Y:-32.15, Z:-3.60 [[ 9.65295892e-01 2.60816362e-01 1.33666037e-02 1.71896801e+02] [-2.60791938e-01 9.65388432e-01 -3.56949908e-03 -3.21494431e+01] [-1.38349483e-02 -4.02796823e-05 9.99904292e-01 -3.60154135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.92, Y:-32.16, Z:-3.60 [[ 9.65986861e-01 2.58235093e-01 1.35654747e-02 1.71923623e+02] [-2.58209700e-01 9.66082107e-01 -3.62133950e-03 -3.21558780e+01] [-1.40405193e-02 -4.57076995e-06 9.99901427e-01 -3.60173246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:171.95, Y:-32.16, Z:-3.60 [[ 9.66368191e-01 2.56797892e-01 1.36880389e-02 1.71949741e+02] [-2.56771909e-01 9.66465127e-01 -3.65302862e-03 -3.21619221e+01] [-1.41671023e-02 1.54667876e-05 9.99899641e-01 -3.60178373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:171.98, Y:-32.17, Z:-3.60 [[ 9.66673979e-01 2.55636799e-01 1.38291327e-02 1.71977027e+02] [-2.55610178e-01 9.66772893e-01 -3.68930639e-03 -3.21686741e+01] [-1.43127531e-02 3.14894304e-05 9.99897567e-01 -3.60206657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:-32.18, Z:-3.60 [[ 9.67342503e-01 2.53079896e-01 1.41084565e-02 1.72003037e+02] [-2.53051931e-01 9.67445379e-01 -3.76282567e-03 -3.21752303e+01] [-1.46014566e-02 6.97690467e-05 9.99893391e-01 -3.60231335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:-32.18, Z:-3.60 [[ 9.67591226e-01 2.52138161e-01 1.39128455e-02 1.72029630e+02] [-2.52110886e-01 9.67691243e-01 -3.70946387e-03 -3.21828564e+01] [-1.43986362e-02 8.16648874e-05 9.99896331e-01 -3.60281971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.06, Y:-32.19, Z:-3.60 [[ 9.67802470e-01 2.51324269e-01 1.39460175e-02 1.72055617e+02] [-2.51296794e-01 9.67902941e-01 -3.71731199e-03 -3.21902006e+01] [-1.44326420e-02 9.30342509e-05 9.99895840e-01 -3.60348584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.08, Y:-32.20, Z:-3.60 [[ 9.67966734e-01 2.50689544e-01 1.39697605e-02 1.72082516e+02] [-2.50661927e-01 9.68067530e-01 -3.72236058e-03 -3.21977226e+01] [-1.44568284e-02 1.01434124e-04 9.99895489e-01 -3.60387823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:-32.21, Z:-3.60 [[ 9.67956331e-01 2.50739601e-01 1.37910708e-02 1.72109004e+02] [-2.50712707e-01 9.68054566e-01 -3.67363961e-03 -3.22054249e+01] [-1.42716360e-02 9.83260317e-05 9.99898150e-01 -3.60439239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:-32.21, Z:-3.61 [[ 9.67814428e-01 2.51311442e-01 1.33338700e-02 1.72135604e+02] [-2.51286366e-01 9.67906272e-01 -3.55111015e-03 -3.22127521e+01] [-1.37983710e-02 8.61959105e-05 9.99904794e-01 -3.60503935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:-32.22, Z:-3.61 [[ 9.67685109e-01 2.51825925e-01 1.30089409e-02 1.72162418e+02] [-2.51802116e-01 9.67772544e-01 -3.46361058e-03 -3.22197282e+01] [-1.34619228e-02 7.60055292e-05 9.99909381e-01 -3.60570434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.19, Y:-32.23, Z:-3.61 [[ 9.67557911e-01 2.52321193e-01 1.28725818e-02 1.72188535e+02] [-2.52297937e-01 9.67643535e-01 -3.42640137e-03 -3.22265628e+01] [-1.33206242e-02 6.75159264e-05 9.99911274e-01 -3.60633465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.768623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.21, Y:-32.23, Z:-3.61 [[ 9.67311635e-01 2.53272835e-01 1.26914324e-02 1.72214680e+02] [-2.53250325e-01 9.67394887e-01 -3.37706498e-03 -3.22345717e+01] [-1.31329456e-02 5.25648702e-05 9.99913758e-01 -3.60711675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.24, Y:-32.24, Z:-3.61 [[ 9.67288651e-01 2.53370715e-01 1.24878795e-02 1.72241252e+02] [-2.53348944e-01 9.67369257e-01 -3.32174971e-03 -3.22423400e+01] [-1.29220248e-02 4.92997091e-05 9.99916506e-01 -3.60766271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:-32.25, Z:-3.61 [[ 9.67290943e-01 2.53364550e-01 1.24353151e-02 1.72268515e+02] [-2.53342973e-01 9.67370871e-01 -3.30685134e-03 -3.22504076e+01] [-1.28674005e-02 4.82876452e-05 9.99917210e-01 -3.60810551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.858623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.29, Y:-32.26, Z:-3.61 [[ 9.67432443e-01 2.52828451e-01 1.23386556e-02 1.72294685e+02] [-2.52807177e-01 9.67511122e-01 -3.28021383e-03 -3.22599116e+01] [-1.27671179e-02 5.40845956e-05 9.99918496e-01 -3.60861104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.32, Y:-32.27, Z:-3.61 [[ 9.67485408e-01 2.52632511e-01 1.21983207e-02 1.72320378e+02] [-2.52611713e-01 9.67562304e-01 -3.24207265e-03 -3.22676675e+01] [-1.26216883e-02 5.52192891e-05 9.99920342e-01 -3.60939477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.918623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.35, Y:-32.28, Z:-3.61 [[ 9.67536655e-01 2.52438974e-01 1.21402842e-02 1.72347181e+02] [-2.52418373e-01 9.67612816e-01 -3.22549854e-03 -3.22755274e+01] [-1.25613362e-02 5.63572734e-05 9.99921102e-01 -3.61017483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.37, Y:-32.28, Z:-3.61 [[ 9.67555571e-01 2.52371766e-01 1.20295124e-02 1.72373900e+02] [-2.52351545e-01 9.67630347e-01 -3.19517167e-03 -3.22838332e+01] [-1.24464924e-02 5.58401188e-05 9.99922538e-01 -3.61115539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.40, Y:-32.29, Z:-3.61 [[ 9.67454812e-01 2.52750046e-01 1.21901908e-02 1.72398928e+02] [-2.52729322e-01 9.67531608e-01 -3.23698951e-03 -3.22931427e+01] [-1.26125441e-02 5.08224268e-05 9.99920457e-01 -3.61166425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.43, Y:-32.30, Z:-3.61 [[ 9.67287218e-01 2.53397722e-01 1.20429269e-02 1.72425539e+02] [-2.53377559e-01 9.67362183e-01 -3.19677478e-03 -3.23009054e+01] [-1.24599275e-02 4.07919492e-05 9.99922371e-01 -3.61187906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.45, Y:-32.31, Z:-3.61 [[ 9.67058283e-01 2.54275081e-01 1.19356477e-02 1.72451646e+02] [-2.54255354e-01 9.67131936e-01 -3.16749464e-03 -3.23085429e+01] [-1.23487611e-02 2.84495963e-05 9.99923751e-01 -3.61219859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.48, Y:-32.32, Z:-3.61 [[ 9.66777564e-01 2.55340622e-01 1.19293452e-02 1.72478061e+02] [-2.55321010e-01 9.66851160e-01 -3.16472501e-03 -3.23162450e+01] [-1.23419841e-02 1.37726782e-05 9.99923835e-01 -3.61320369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:172.51, Y:-32.32, Z:-3.61 [[ 9.65983301e-01 2.58323567e-01 1.20497304e-02 1.72505057e+02] [-2.58303801e-01 9.66058453e-01 -3.19571447e-03 -3.23246189e+01] [-1.24662723e-02 -2.54843495e-05 9.99922293e-01 -3.60688599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.53, Y:-32.33, Z:-3.61 [[ 9.65670115e-01 2.59446322e-01 1.29936394e-02 1.72531602e+02] [-2.59423455e-01 9.65757529e-01 -3.44484993e-03 -3.23323931e+01] [-1.34424588e-02 -4.42662130e-05 9.99909645e-01 -3.61371801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:-32.34, Z:-3.61 [[ 9.65292388e-01 2.60819902e-01 1.35493487e-02 1.72558226e+02] [-2.60795184e-01 9.65387474e-01 -3.59132417e-03 -3.23400974e+01] [-1.40170604e-02 -6.69270186e-05 9.99901754e-01 -3.61416449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:172.58, Y:-32.35, Z:-3.61 [[ 9.64924167e-01 2.62159283e-01 1.39234149e-02 1.72584661e+02] [-2.62133338e-01 9.65024612e-01 -3.68929701e-03 -3.23481599e+01] [-1.44036215e-02 -8.98993627e-05 9.99896258e-01 -3.61435133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.61, Y:-32.36, Z:-3.61 [[ 9.64449132e-01 2.63859585e-01 1.46966413e-02 1.72611863e+02] [-2.63830890e-01 9.64561094e-01 -3.89322017e-03 -3.23566939e+01] [-1.52030718e-02 -1.22615133e-04 9.99884419e-01 -3.61462263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.64, Y:-32.36, Z:-3.62 [[ 9.64252981e-01 2.64587706e-01 1.44753199e-02 1.72638972e+02] [-2.64559967e-01 9.64361617e-01 -3.83346178e-03 -3.23644974e+01] [-1.49737298e-02 -1.33163208e-04 9.99887879e-01 -3.61506803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:-32.37, Z:-3.62 [[ 9.64091648e-01 2.65184398e-01 1.43013510e-02 1.72666027e+02] [-2.65157400e-01 9.64197705e-01 -3.78655978e-03 -3.23724069e+01] [-1.47934664e-02 -1.41518395e-04 9.99890561e-01 -3.61594025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.69, Y:-32.38, Z:-3.62 [[ 9.63943085e-01 2.65775630e-01 1.33057814e-02 1.72693228e+02] [-2.65752330e-01 9.64034903e-01 -3.52194819e-03 -3.23811116e+01] [-1.37632857e-02 -1.41084815e-04 9.99905272e-01 -3.61715395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:-32.39, Z:-3.62 [[ 9.63899296e-01 2.65967021e-01 1.26368630e-02 1.72720336e+02] [-2.65946029e-01 9.63982119e-01 -3.34438038e-03 -3.23891526e+01] [-1.30712048e-02 -1.37077625e-04 9.99914559e-01 -3.61770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.75, Y:-32.40, Z:-3.62 [[ 9.63891311e-01 2.66005121e-01 1.24425245e-02 1.72746998e+02] [-2.65984783e-01 9.63971606e-01 -3.29212518e-03 -3.23966381e+01] [-1.28699625e-02 -1.36271317e-04 9.99917169e-01 -3.61862717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.77, Y:-32.40, Z:-3.62 [[ 9.63800409e-01 2.66312998e-01 1.28902706e-02 1.72773703e+02] [-2.66291212e-01 9.63886594e-01 -3.40948334e-03 -3.24042016e+01] [-1.33327488e-02 -1.46504347e-04 9.99911104e-01 -3.61928623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.80, Y:-32.41, Z:-3.62 [[ 9.63744896e-01 2.66506853e-01 1.30335067e-02 1.72800535e+02] [-2.66484608e-01 9.63833012e-01 -3.44658744e-03 -3.24111468e+01] [-1.34806632e-02 -1.51597875e-04 9.99909120e-01 -3.61945126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:-32.42, Z:-3.62 [[ 9.63675129e-01 2.66746735e-01 1.32825118e-02 1.72826785e+02] [-2.66723668e-01 9.63766649e-01 -3.51149167e-03 -3.24183404e+01] [-1.37379209e-02 -1.58823088e-04 9.99905618e-01 -3.61987616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.488623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:172.85, Y:-32.43, Z:-3.62 [[ 9.63565158e-01 2.67142055e-01 1.33157324e-02 1.72853956e+02] [-2.67118927e-01 9.63657146e-01 -3.51907752e-03 -3.24254560e+01] [-1.37718943e-02 -1.66023658e-04 9.99905149e-01 -3.62061250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:172.88, Y:-32.43, Z:-3.62 [[ 9.63169398e-01 2.68568279e-01 1.32585761e-02 1.72880962e+02] [-2.68545499e-01 9.63260632e-01 -3.50290876e-03 -3.24321154e+01] [-1.37122345e-02 -1.86636407e-04 9.99905965e-01 -3.62079753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.91, Y:-32.44, Z:-3.62 [[ 9.62981817e-01 2.69255195e-01 1.29483624e-02 1.72908028e+02] [-2.69233540e-01 9.63068846e-01 -3.42024031e-03 -3.24383543e+01] [-1.33910820e-02 -1.92504229e-04 9.99910317e-01 -3.62141172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.94, Y:-32.44, Z:-3.62 [[ 9.62823756e-01 2.69820719e-01 1.29303841e-02 1.72935528e+02] [-2.69799188e-01 9.62910556e-01 -3.41452317e-03 -3.24442898e+01] [-1.33721124e-02 -2.01023109e-04 9.99910569e-01 -3.62228445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.608623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:172.96, Y:-32.45, Z:-3.62 [[ 9.62471899e-01 2.71059422e-01 1.32148952e-02 1.72962440e+02] [-2.71037063e-01 9.62562590e-01 -3.48868707e-03 -3.24487707e+01] [-1.36658052e-02 -2.23963103e-04 9.99906593e-01 -3.62296139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.638623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:172.99, Y:-32.46, Z:-3.62 [[ 9.62443428e-01 2.71158556e-01 1.32546284e-02 1.72989699e+02] [-2.71136089e-01 9.62534667e-01 -3.49793643e-03 -3.24552322e+01] [-1.37065347e-02 -2.27242163e-04 9.99906035e-01 -3.62301885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.02, Y:-32.46, Z:-3.62 [[ 9.62566389e-01 2.70704555e-01 1.36011056e-02 1.73016388e+02] [-2.70680864e-01 9.62662450e-01 -3.58853386e-03 -3.24616265e+01] [-1.40647061e-02 -2.27356937e-04 9.99901061e-01 -3.62371185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.04, Y:-32.47, Z:-3.62 [[ 9.62709379e-01 2.70176010e-01 1.39848078e-02 1.73044056e+02] [-2.70150936e-01 9.62810922e-01 -3.68786777e-03 -3.24681577e+01] [-1.44610991e-02 -2.27664031e-04 9.99895407e-01 -3.62405559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.07, Y:-32.47, Z:-3.62 [[ 9.63179723e-01 2.68508848e-01 1.37046940e-02 1.73070827e+02] [-2.68484611e-01 9.63277197e-01 -3.61318475e-03 -3.24743485e+01] [-1.41715913e-02 -1.99353158e-04 9.99899558e-01 -3.62497927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.10, Y:-32.48, Z:-3.63 [[ 9.63555353e-01 2.67169250e-01 1.34786646e-02 1.73097410e+02] [-2.67145694e-01 9.63649604e-01 -3.55218994e-03 -3.24807983e+01] [-1.39377457e-02 -1.78035584e-04 9.99902849e-01 -3.62564789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.12, Y:-32.49, Z:-3.63 [[ 9.63888176e-01 2.65959284e-01 1.36104513e-02 1.73124057e+02] [-2.65935169e-01 9.63984249e-01 -3.58516085e-03 -3.24866399e+01] [-1.40737675e-02 -1.63803520e-04 9.99900946e-01 -3.62673504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.15, Y:-32.49, Z:-3.63 [[ 9.64718471e-01 2.62937552e-01 1.34949944e-02 1.73151851e+02] [-2.62913565e-01 9.64812847e-01 -3.55357094e-03 -3.24926080e+01] [-1.39545112e-02 -1.19821561e-04 9.99902624e-01 -3.62781711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:-32.50, Z:-3.63 [[ 9.65237107e-01 2.61041917e-01 1.32077728e-02 1.73178370e+02] [-2.61018777e-01 9.65327462e-01 -3.47687599e-03 -3.24997143e+01] [-1.36574361e-02 -9.14669811e-05 9.99906729e-01 -3.62816891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.21, Y:-32.51, Z:-3.63 [[ 9.65251919e-01 2.60987132e-01 1.32079862e-02 1.73205959e+02] [-2.60963998e-01 9.65342275e-01 -3.47606481e-03 -3.25068399e+01] [-1.36574357e-02 -9.15306666e-05 9.99906729e-01 -3.62871870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.23, Y:-32.51, Z:-3.63 [[ 9.65779639e-01 2.59021312e-01 1.33284772e-02 1.73232822e+02] [-2.58997577e-01 9.65871604e-01 -3.50704057e-03 -3.25141855e+01] [-1.37819960e-02 -6.50149438e-05 9.99905022e-01 -3.62917623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:173.26, Y:-32.52, Z:-3.63 [[ 9.66304406e-01 2.57050646e-01 1.34447115e-02 1.73259267e+02] [-2.57026317e-01 9.66397933e-01 -3.53675811e-03 -3.25212166e+01] [-1.39020673e-02 -3.80597186e-05 9.99903361e-01 -3.62969190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:-32.53, Z:-3.63 [[ 9.67127479e-01 2.53929839e-01 1.35674543e-02 1.73286239e+02] [-2.53904780e-01 9.67222641e-01 -3.56736347e-03 -3.25280187e+01] [-1.40286090e-02 5.25374492e-06 9.99901594e-01 -3.63058557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.31, Y:-32.53, Z:-3.63 [[ 9.67428375e-01 2.52764837e-01 1.38663577e-02 1.73313779e+02] [-2.52738557e-01 9.67527745e-01 -3.64488343e-03 -3.25348549e+01] [-1.43373841e-02 2.16004265e-05 9.99897214e-01 -3.63121812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.34, Y:-32.54, Z:-3.63 [[ 9.67602880e-01 2.52092137e-01 1.39363447e-02 1.73342137e+02] [-2.52065538e-01 9.67703236e-01 -3.66208008e-03 -3.25420777e+01] [-1.44094274e-02 3.05670127e-05 9.99896178e-01 -3.63170737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:-32.55, Z:-3.63 [[ 9.67666688e-01 2.51833009e-01 1.41886128e-02 1.73368849e+02] [-2.51805421e-01 9.67770703e-01 -3.72767614e-03 -3.25490182e+01] [-1.46700757e-02 3.43784045e-05 9.99892388e-01 -3.63200314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.40, Y:-32.56, Z:-3.63 [[ 9.67577555e-01 2.52150222e-01 1.46266786e-02 1.73396798e+02] [-2.52120956e-01 9.67688103e-01 -3.84173633e-03 -3.25555780e+01] [-1.51227576e-02 2.94856515e-05 9.99885644e-01 -3.63285360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.42, Y:-32.56, Z:-3.63 [[ 9.67398420e-01 2.52854980e-01 1.43058269e-02 1.73424703e+02] [-2.52827072e-01 9.67504191e-01 -3.75674733e-03 -3.25615541e+01] [-1.47908597e-02 1.73711124e-05 9.99890609e-01 -3.62700728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.45, Y:-32.57, Z:-3.63 [[ 9.67227867e-01 2.53471705e-01 1.49113570e-02 1.73451565e+02] [-2.53441468e-01 9.67342801e-01 -3.91499148e-03 -3.25684157e+01] [-1.54167334e-02 7.53263705e-06 9.99881155e-01 -3.63348860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.48, Y:-32.57, Z:-3.63 [[ 9.66909522e-01 2.54665609e-01 1.52119357e-02 1.73478649e+02] [-2.54634305e-01 9.67029176e-01 -3.99294163e-03 -3.25745659e+01] [-1.57272506e-02 -1.26673895e-05 9.99876319e-01 -3.63447759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.51, Y:-32.58, Z:-3.64 [[ 9.66806257e-01 2.55057226e-01 1.52142230e-02 1.73505695e+02] [-2.55025979e-01 9.66925959e-01 -3.99238632e-03 -3.25802873e+01] [-1.57293141e-02 -2.01580341e-05 9.99876286e-01 -3.63543860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:-32.59, Z:-3.64 [[ 9.66746043e-01 2.55319436e-01 1.46312480e-02 1.73531733e+02] [-2.55290582e-01 9.66856755e-01 -3.83847464e-03 -3.25856985e+01] [-1.51263581e-02 -2.43896363e-05 9.99885590e-01 -3.63592194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.56, Y:-32.59, Z:-3.64 [[ 9.66779652e-01 2.55199116e-01 1.45091714e-02 1.73558071e+02] [-2.55170752e-01 9.66888520e-01 -3.80476885e-03 -3.25916378e+01] [-1.49997249e-02 -2.39430698e-05 9.99887498e-01 -3.63659397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.59, Y:-32.60, Z:-3.64 [[ 9.66943833e-01 2.54537107e-01 1.51816986e-02 1.73585886e+02] [-2.54505994e-01 9.67063008e-01 -3.97974398e-03 -3.25976002e+01] [-1.56946516e-02 -1.56443968e-05 9.99876831e-01 -3.63714993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.61, Y:-32.60, Z:-3.64 [[ 9.67113183e-01 2.53880996e-01 1.53795727e-02 1.73612861e+02] [-2.53849003e-01 9.67235462e-01 -4.03036035e-03 -3.26037074e+01] [-1.58989000e-02 -6.27457678e-06 9.99873604e-01 -3.63752609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.358623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:173.64, Y:-32.61, Z:-3.63 [[ 9.67333872e-01 2.53053739e-01 1.51322515e-02 1.73638927e+02] [-2.53022679e-01 9.67452224e-01 -3.96474220e-03 -3.26093437e+01] [-1.56430232e-02 6.42661148e-06 9.99877640e-01 -3.63196763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.67, Y:-32.62, Z:-3.64 [[ 9.67593045e-01 2.52018004e-01 1.58311285e-02 1.73665556e+02] [-2.51983900e-01 9.67722545e-01 -4.14596583e-03 -3.26162541e+01] [-1.63649980e-02 2.24181938e-05 9.99866084e-01 -3.63837150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.69, Y:-32.62, Z:-3.64 [[ 9.68083433e-01 2.50133225e-01 1.57428008e-02 1.73692524e+02] [-2.50099270e-01 9.68211427e-01 -4.12163573e-03 -3.26231736e+01] [-1.62733177e-02 5.28242665e-05 9.99867579e-01 -3.63921266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.72, Y:-32.63, Z:-3.64 [[ 9.68402504e-01 2.48897153e-01 1.57098024e-02 1.73719339e+02] [-2.48863194e-01 9.68529918e-01 -4.11206409e-03 -3.26299370e+01] [-1.62388947e-02 7.25415575e-05 9.99868138e-01 -3.64019146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.75, Y:-32.64, Z:-3.64 [[ 9.68741494e-01 2.47567762e-01 1.58152073e-02 1.73745858e+02] [-2.47533187e-01 9.68870577e-01 -4.13848858e-03 -3.26371956e+01] [-1.63474453e-02 9.43369576e-05 9.99866367e-01 -3.64080144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.77, Y:-32.65, Z:-3.64 [[ 9.69377464e-01 2.45123175e-01 1.48983566e-02 1.73773092e+02] [-2.45092221e-01 9.69491935e-01 -3.89744953e-03 -3.26452553e+01] [-1.53991918e-02 1.26628414e-04 9.99881417e-01 -3.64228438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:-32.65, Z:-3.64 [[ 9.69700985e-01 2.43840201e-01 1.48982203e-02 1.73799980e+02] [-2.43809107e-01 9.69815413e-01 -3.89668861e-03 -3.26529858e+01] [-1.53986930e-02 1.46300994e-04 9.99881422e-01 -3.64337225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.83, Y:-32.66, Z:-3.64 [[ 9.70022963e-01 2.42567648e-01 1.47101121e-02 1.73826237e+02] [-2.42537203e-01 9.70134480e-01 -3.84656916e-03 -3.26608368e+01] [-1.52038402e-02 1.63510977e-04 9.99884402e-01 -3.64386200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:173.85, Y:-32.67, Z:-3.64 [[ 9.70529410e-01 2.40554341e-01 1.43622512e-02 1.73852367e+02] [-2.40525111e-01 9.70635654e-01 -3.75466603e-03 -3.26697495e+01] [-1.48437143e-02 1.89531738e-04 9.99889808e-01 -3.64377817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:173.88, Y:-32.68, Z:-3.64 [[ 9.70706428e-01 2.39830494e-01 1.45039738e-02 1.73879744e+02] [-2.39800619e-01 9.70814757e-01 -3.79073753e-03 -3.26774323e+01] [-1.49898062e-02 2.01631396e-04 9.99887626e-01 -3.64499071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.91, Y:-32.69, Z:-3.65 [[ 9.70756538e-01 2.39647435e-01 1.41721865e-02 1.73907500e+02] [-2.39618902e-01 9.70859963e-01 -3.70332881e-03 -3.26850562e+01] [-1.46467017e-02 1.99106903e-04 9.99892711e-01 -3.64515299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.94, Y:-32.69, Z:-3.65 [[ 9.70712077e-01 2.39833712e-01 1.40660260e-02 1.73935556e+02] [-2.39805635e-01 9.70813964e-01 -3.67488294e-03 -3.26924414e+01] [-1.45368552e-02 1.94140970e-04 9.99894315e-01 -3.64599770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.96, Y:-32.70, Z:-3.65 [[ 9.70622764e-01 2.40191738e-01 1.41201614e-02 1.73963803e+02] [-2.40163492e-01 9.70725447e-01 -3.68831009e-03 -3.27002556e+01] [-1.45927016e-02 1.88810456e-04 9.99893503e-01 -3.64648564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74862385300003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:173.99, Y:-32.71, Z:-3.64 [[ 9.70332441e-01 2.41394938e-01 1.35438873e-02 1.73991029e+02] [-2.41369077e-01 9.70426946e-01 -3.53715158e-03 -3.27087409e+01] [-1.39972036e-02 1.63137359e-04 9.99902021e-01 -3.64231107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.02, Y:-32.72, Z:-3.65 [[ 9.70122114e-01 2.42250090e-01 1.33408456e-02 1.74017737e+02] [-2.42225088e-01 9.70213828e-01 -3.48351010e-03 -3.27170046e+01] [-1.37873535e-02 1.47942692e-04 9.99904939e-01 -3.64749631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.04, Y:-32.72, Z:-3.65 [[ 9.69886333e-01 2.43167062e-01 1.37942283e-02 1.74044496e+02] [-2.43140437e-01 9.69984413e-01 -3.60099293e-03 -3.27239359e+01] [-1.42558294e-02 1.38619122e-04 9.99898371e-01 -3.64790415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.838623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.07, Y:-32.73, Z:-3.65 [[ 9.69411415e-01 2.44987462e-01 1.49215197e-02 1.74071259e+02] [-2.44956543e-01 9.69526239e-01 -3.89400941e-03 -3.27299311e+01] [-1.54207883e-02 1.19773301e-04 9.99881085e-01 -3.64801154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.10, Y:-32.74, Z:-3.65 [[ 9.69202928e-01 2.45790650e-01 1.52525589e-02 1.74098788e+02] [-2.45758457e-01 9.69322931e-01 -3.97947977e-03 -3.27365602e+01] [-1.57627741e-02 1.08478096e-04 9.99875754e-01 -3.64815514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:-32.74, Z:-3.65 [[ 9.69029096e-01 2.46455024e-01 1.55734170e-02 1.74125380e+02] [-2.46421568e-01 9.69154225e-01 -4.06198275e-03 -3.27432703e+01] [-1.60941389e-02 9.85536444e-05 9.99870476e-01 -3.64871404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.15, Y:-32.75, Z:-3.65 [[ 9.68939996e-01 2.46780633e-01 1.59563257e-02 1.74152715e+02] [-2.46745571e-01 9.69071365e-01 -4.16083626e-03 -3.27507389e+01] [-1.64896321e-02 9.44479599e-05 9.99864032e-01 -3.64911231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:-32.76, Z:-3.65 [[ 9.68895758e-01 2.46944334e-01 1.61092140e-02 1.74180788e+02] [-2.46908635e-01 9.69029663e-01 -4.19985777e-03 -3.27592137e+01] [-1.66474373e-02 9.17203391e-05 9.99861418e-01 -3.64969228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.21, Y:-32.77, Z:-3.65 [[ 9.68934788e-01 2.46794820e-01 1.60528481e-02 1.74207387e+02] [-2.46759362e-01 9.69067752e-01 -4.18437150e-03 -3.27664249e+01] [-1.65889787e-02 9.31925469e-05 9.99862389e-01 -3.64992096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:174.23, Y:-32.77, Z:-3.65 [[ 9.69003156e-01 2.46546009e-01 1.57464170e-02 1.74234156e+02] [-2.46511877e-01 9.69131083e-01 -4.10344231e-03 -3.27733575e+01] [-1.62720295e-02 9.45697414e-05 9.99867597e-01 -3.65064263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.26, Y:-32.78, Z:-3.65 [[ 9.68971352e-01 2.46686491e-01 1.55014338e-02 1.74261090e+02] [-2.46653446e-01 9.69095334e-01 -4.03861595e-03 -3.27794670e+01] [-1.60186392e-02 8.98210912e-05 9.99871689e-01 -3.65084212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:-32.79, Z:-3.65 [[ 9.68970344e-01 2.46679445e-01 1.56756095e-02 1.74288375e+02] [-2.46645667e-01 9.69097128e-01 -4.08309340e-03 -3.27861092e+01] [-1.61984033e-02 9.00752621e-05 9.99868793e-01 -3.65123177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.108623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.32, Y:-32.79, Z:-3.65 [[ 9.68948862e-01 2.46751038e-01 1.58753721e-02 1.74316497e+02] [-2.46716424e-01 9.69078901e-01 -4.13387171e-03 -3.27931971e+01] [-1.64045253e-02 8.87952649e-05 9.99865433e-01 -3.65167083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:-32.80, Z:-3.65 [[ 9.68924438e-01 2.46869977e-01 1.55128201e-02 1.74343064e+02] [-2.46836953e-01 9.69048609e-01 -4.03872423e-03 -3.28003146e+01] [-1.60297165e-02 8.40813632e-05 9.99871512e-01 -3.65211289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.168623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.37, Y:-32.81, Z:-3.65 [[ 9.68961544e-01 2.46733494e-01 1.53658349e-02 1.74369687e+02] [-2.46701091e-01 9.69083369e-01 -3.99947343e-03 -3.28073545e+01] [-1.58775791e-02 8.45677205e-05 9.99873940e-01 -3.65315752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.40, Y:-32.81, Z:-3.65 [[ 9.69023037e-01 2.46493437e-01 1.53407978e-02 1.74398161e+02] [-2.46461125e-01 9.69144457e-01 -3.99197743e-03 -3.28143923e+01] [-1.58514454e-02 8.74077923e-05 9.99874354e-01 -3.65360118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.43, Y:-32.82, Z:-3.65 [[ 9.69236947e-01 2.45661723e-01 1.51676854e-02 1.74425577e+02] [-2.45630046e-01 9.69355615e-01 -3.94617835e-03 -3.28207672e+01] [-1.56723060e-02 9.91425833e-05 9.99877177e-01 -3.65433708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:-32.83, Z:-3.65 [[ 9.69368195e-01 2.45140908e-01 1.52065022e-02 1.74453829e+02] [-2.45109022e-01 9.69487454e-01 -3.95520568e-03 -3.28279859e+01] [-1.57120958e-02 1.06799712e-04 9.99876552e-01 -3.65483819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.48, Y:-32.84, Z:-3.66 [[ 9.69508003e-01 2.44588574e-01 1.51875503e-02 1.74481818e+02] [-2.44556711e-01 9.69626947e-01 -3.94952776e-03 -3.28352567e+01] [-1.56922674e-02 1.14881418e-04 9.99876862e-01 -3.65534328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.51, Y:-32.84, Z:-3.66 [[ 9.69579966e-01 2.44310833e-01 1.50634125e-02 1.74509215e+02] [-2.44279467e-01 9.69696964e-01 -3.91650806e-03 -3.28423719e+01] [-1.55637907e-02 1.17685375e-04 9.99878870e-01 -3.65572512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:-32.85, Z:-3.66 [[ 9.69653402e-01 2.44030641e-01 1.48770337e-02 1.74537123e+02] [-2.44000029e-01 9.69767514e-01 -3.86703370e-03 -3.28496730e+01] [-1.53709387e-02 1.19685730e-04 9.99881853e-01 -3.65607469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.56, Y:-32.86, Z:-3.66 [[ 9.69745372e-01 2.43627973e-01 1.54701287e-02 1.74564565e+02] [-2.43594833e-01 9.69868751e-01 -4.02039911e-03 -3.28568291e+01] [-1.59834761e-02 1.30320015e-04 9.99872248e-01 -3.65651487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:174.59, Y:-32.86, Z:-3.65 [[ 9.69853993e-01 2.43213505e-01 1.51797220e-02 1.74591951e+02] [-2.43181558e-01 9.69972769e-01 -3.94420481e-03 -3.28630165e+01] [-1.56832009e-02 1.33874321e-04 9.99877002e-01 -3.64900915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.62, Y:-32.87, Z:-3.66 [[ 9.69943623e-01 2.42787985e-01 1.62284203e-02 1.74619778e+02] [-2.42751431e-01 9.70079364e-01 -4.21553223e-03 -3.28708280e+01] [-1.67663362e-02 1.49356346e-04 9.99859424e-01 -3.65696213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:-32.88, Z:-3.66 [[ 9.70173818e-01 2.41847486e-01 1.65092714e-02 1.74647054e+02] [-2.41809534e-01 9.70314261e-01 -4.28764575e-03 -3.28771649e+01] [-1.70561378e-02 1.67662426e-04 9.99854519e-01 -3.65714973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.68, Y:-32.88, Z:-3.66 [[ 9.70382024e-01 2.41009081e-01 1.65332843e-02 1.74675098e+02] [-2.40970916e-01 9.70522844e-01 -4.29278425e-03 -3.28842972e+01] [-1.70805301e-02 1.81600016e-04 9.99854101e-01 -3.65769080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:-32.89, Z:-3.66 [[ 9.70745044e-01 2.39537823e-01 1.66039594e-02 1.74702140e+02] [-2.39499129e-01 9.70887011e-01 -4.31032742e-03 -3.28911687e+01] [-1.71530549e-02 2.07595183e-04 9.99852854e-01 -3.65818505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.558623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:174.73, Y:-32.90, Z:-3.66 [[ 9.71465022e-01 2.36639953e-01 1.60388206e-02 1.74729654e+02] [-2.36603469e-01 9.71597381e-01 -4.16263820e-03 -3.28993983e+01] [-1.65683226e-02 2.49016809e-04 9.99862705e-01 -3.65932905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:-32.91, Z:-3.66 [[ 9.71765307e-01 2.35422194e-01 1.57663750e-02 1.74756526e+02] [-2.35386792e-01 9.71893163e-01 -4.09119253e-03 -3.29070602e+01] [-1.62863896e-02 2.64482545e-04 9.99867333e-01 -3.66013973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:-32.91, Z:-3.66 [[ 9.72009504e-01 2.34402134e-01 1.59110879e-02 1.74784022e+02] [-2.34365959e-01 9.72139681e-01 -4.12770992e-03 -3.29146469e+01] [-1.64353440e-02 2.83155893e-04 9.99864891e-01 -3.66050534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.81, Y:-32.92, Z:-3.66 [[ 9.72210485e-01 2.33568701e-01 1.58881928e-02 1.74810516e+02] [-2.33532531e-01 9.72340257e-01 -4.12100955e-03 -3.29214559e+01] [-1.64112684e-02 2.96078818e-04 9.99865282e-01 -3.66081838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.678623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:174.84, Y:-32.93, Z:-3.65 [[ 9.72379281e-01 2.32894723e-01 1.54461101e-02 1.74839393e+02] [-2.32860470e-01 9.72501907e-01 -4.00529586e-03 -3.29281667e+01] [-1.59541838e-02 2.97878255e-04 9.99872680e-01 -3.65448720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:-32.94, Z:-3.66 [[ 9.72596218e-01 2.31898830e-01 1.67191120e-02 1.74867848e+02] [-2.31858558e-01 9.72739851e-01 -4.33492835e-03 -3.29365205e+01] [-1.72686113e-02 3.39665712e-04 9.99850829e-01 -3.66164249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.738623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.90, Y:-32.94, Z:-3.66 [[ 9.72702065e-01 2.31438542e-01 1.69379643e-02 1.74895752e+02] [-2.31397146e-01 9.72849463e-01 -4.39125531e-03 -3.29440502e+01] [-1.74943952e-02 3.51986504e-04 9.99846899e-01 -3.66191287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.92, Y:-32.95, Z:-3.66 [[ 9.72968671e-01 2.30300152e-01 1.71407643e-02 1.74923514e+02] [-2.30257594e-01 9.73119570e-01 -4.44318458e-03 -3.29519263e+01] [-1.77032792e-02 3.76288255e-04 9.99843214e-01 -3.66252383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.95, Y:-32.96, Z:-3.66 [[ 9.72986437e-01 2.30225064e-01 1.71409565e-02 1.74951930e+02] [-2.30182508e-01 9.73137338e-01 -4.44244274e-03 -3.29591816e+01] [-1.77032665e-02 3.76888170e-04 9.99843214e-01 -3.66308970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:-32.97, Z:-3.66 [[ 9.73142695e-01 2.29557125e-01 1.72285223e-02 1.74979356e+02] [-2.29514054e-01 9.73295112e-01 -4.46366232e-03 -3.29664068e+01] [-1.77931020e-02 3.89592375e-04 9.99841614e-01 -3.66392142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.01, Y:-32.97, Z:-3.66 [[ 9.73285620e-01 2.28970673e-01 1.69567993e-02 1.75008055e+02] [-2.28928876e-01 9.73433242e-01 -4.39240549e-03 -3.29745263e+01] [-1.75120442e-02 3.93164090e-04 9.99846575e-01 -3.66404108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.04, Y:-32.98, Z:-3.67 [[ 9.73405402e-01 2.28475703e-01 1.67563836e-02 1.75036566e+02] [-2.28434824e-01 9.73549534e-01 -4.33999172e-03 -3.29824447e+01] [-1.73047521e-02 3.96829852e-04 9.99850183e-01 -3.66521997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.06, Y:-32.99, Z:-3.67 [[ 9.73612606e-01 2.27609196e-01 1.65089827e-02 1.75064752e+02] [-2.27569386e-01 9.73752478e-01 -4.27623060e-03 -3.29909818e+01] [-1.70489723e-02 4.06452961e-04 9.99854573e-01 -3.66528346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:-33.00, Z:-3.67 [[ 9.73655575e-01 2.27414068e-01 1.66632347e-02 1.75093150e+02] [-2.27373490e-01 9.73798065e-01 -4.31573942e-03 -3.29991801e+01] [-1.72080856e-02 4.13265925e-04 9.99851845e-01 -3.66550344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.12, Y:-33.01, Z:-3.67 [[ 9.73671658e-01 2.27331625e-01 1.68473834e-02 1.75120546e+02] [-2.27290135e-01 9.73817312e-01 -4.36326559e-03 -3.30071897e+01] [-1.73981819e-02 4.19144004e-04 9.99848552e-01 -3.66598895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.15, Y:-33.02, Z:-3.67 [[ 9.73685208e-01 2.27252401e-01 1.71307292e-02 1.75148364e+02] [-2.27209502e-01 9.73835799e-01 -4.43599126e-03 -3.30153316e+01] [-1.76906070e-02 4.26994635e-04 9.99843418e-01 -3.66638261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.18, Y:-33.02, Z:-3.67 [[ 9.73649253e-01 2.27395890e-01 1.72696816e-02 1.75177769e+02] [-2.27352327e-01 9.73802304e-01 -4.47127379e-03 -3.30244939e+01] [-1.78340050e-02 4.27150087e-04 9.99840870e-01 -3.66634389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.21, Y:-33.03, Z:-3.67 [[ 9.73606249e-01 2.27580945e-01 1.72564454e-02 1.75207480e+02] [-2.27537478e-01 9.73759074e-01 -4.46784682e-03 -3.30331550e+01] [-1.78204170e-02 4.23435523e-04 9.99841114e-01 -3.66720285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.24, Y:-33.04, Z:-3.67 [[ 9.73533346e-01 2.27885142e-01 1.73547104e-02 1.75235326e+02] [-2.27841227e-01 9.73687930e-01 -4.49330514e-03 -3.30415360e+01] [-1.79220295e-02 4.20263879e-04 9.99839299e-01 -3.66845333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.26, Y:-33.05, Z:-3.67 [[ 9.73397603e-01 2.28491892e-01 1.69871086e-02 1.75264677e+02] [-2.28449915e-01 9.73545733e-01 -4.39789957e-03 -3.30507607e+01] [-1.75426115e-02 4.00201393e-04 9.99846036e-01 -3.66964146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:-33.06, Z:-3.67 [[ 9.73293875e-01 2.28956156e-01 1.66766627e-02 1.75294759e+02] [-2.28915768e-01 9.73436660e-01 -4.31747515e-03 -3.30596674e+01] [-1.72221873e-02 3.84621074e-04 9.99851613e-01 -3.67020081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.32, Y:-33.07, Z:-3.67 [[ 9.73148249e-01 2.29590776e-01 1.64487316e-02 1.75323950e+02] [-2.29551568e-01 9.73287182e-01 -4.25890767e-03 -3.30684037e+01] [-1.69871456e-02 3.68716414e-04 9.99855640e-01 -3.67048215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.35, Y:-33.08, Z:-3.67 [[ 9.72776107e-01 2.31223691e-01 1.55643932e-02 1.75352520e+02] [-2.31188791e-01 9.72900561e-01 -4.03015893e-03 -3.30787505e+01] [-1.60744751e-02 3.22129068e-04 9.99870745e-01 -3.67144432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.38, Y:-33.09, Z:-3.67 [[ 9.72602443e-01 2.31994654e-01 1.49321054e-02 1.75380831e+02] [-2.31962622e-01 9.72717016e-01 -3.86648462e-03 -3.30867916e+01] [-1.54217167e-02 2.96862074e-04 9.99881034e-01 -3.66614180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.41, Y:-33.10, Z:-3.67 [[ 9.72333548e-01 2.33106694e-01 1.51241454e-02 1.75407461e+02] [-2.33073968e-01 9.72451124e-01 -3.91610782e-03 -3.30958933e+01] [-1.56203631e-02 2.82718429e-04 9.99877955e-01 -3.67280734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.44, Y:-33.10, Z:-3.67 [[ 9.71977931e-01 2.34572657e-01 1.53156922e-02 1.75435639e+02] [-2.34539290e-01 9.72098555e-01 -3.96507954e-03 -3.31049420e+01] [-1.58184615e-02 2.61838238e-04 9.99874846e-01 -3.67332241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.46, Y:-33.11, Z:-3.67 [[ 9.71256870e-01 2.37520862e-01 1.56183188e-02 1.75462307e+02] [-2.37486549e-01 9.71382413e-01 -4.04306322e-03 -3.31146248e+01] [-1.61316721e-02 2.17712291e-04 9.99869852e-01 -3.67330767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.49, Y:-33.12, Z:-3.67 [[ 9.70870304e-01 2.39058499e-01 1.61829500e-02 1.75491251e+02] [-2.39021884e-01 9.71005147e-01 -4.18856571e-03 -3.31229994e+01] [-1.67150400e-02 1.98474853e-04 9.99860274e-01 -3.67415050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.52, Y:-33.13, Z:-3.67 [[ 9.70369814e-01 2.41038802e-01 1.68142856e-02 1.75519542e+02] [-2.40999579e-01 9.70515465e-01 -4.35153487e-03 -3.31313156e+01] [-1.73674130e-02 1.70362332e-04 9.99849161e-01 -3.67440110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.55, Y:-33.14, Z:-3.67 [[ 9.69980535e-01 2.42584954e-01 1.70382738e-02 1.75547665e+02] [-2.42544925e-01 9.70130156e-01 -4.40907393e-03 -3.31395097e+01] [-1.75989182e-02 1.44169044e-04 9.99845117e-01 -3.67471227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.58, Y:-33.15, Z:-3.68 [[ 9.69037567e-01 2.46309503e-01 1.72575421e-02 1.75576897e+02] [-2.46269035e-01 9.69191221e-01 -4.46534827e-03 -3.31486164e+01] [-1.78257160e-02 7.70919867e-05 9.99841106e-01 -3.67513695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.61, Y:-33.16, Z:-3.68 [[ 9.68509743e-01 2.48400659e-01 1.69112288e-02 1.75605808e+02] [-2.48362118e-01 9.68657375e-01 -4.37576314e-03 -3.31563029e+01] [-1.74681289e-02 3.78606422e-05 9.99847420e-01 -3.67593457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:175.63, Y:-33.16, Z:-3.68 [[ 9.68067714e-01 2.50139695e-01 1.65841675e-02 1.75633385e+02] [-2.50102888e-01 9.68209757e-01 -4.29095954e-03 -3.31634940e+01] [-1.71302921e-02 6.19119349e-06 9.99853266e-01 -3.67726216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:-33.17, Z:-3.68 [[ 9.67376375e-01 2.52852952e-01 1.57586167e-02 1.75661533e+02] [-2.52820085e-01 9.67504720e-01 -4.07694339e-03 -3.31718696e+01] [-1.62774032e-02 -4.01561145e-05 9.99867513e-01 -3.67823738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:-33.18, Z:-3.68 [[ 9.67099175e-01 2.53916043e-01 1.56789074e-02 1.75689293e+02] [-2.53883653e-01 9.67226261e-01 -4.05596731e-03 -3.31797421e+01] [-1.61949262e-02 -5.80956494e-05 9.99868852e-01 -3.67877350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.72, Y:-33.19, Z:-3.68 [[ 9.66817363e-01 2.54994451e-01 1.55568682e-02 1.75717159e+02] [-2.54962713e-01 9.66942513e-01 -4.02381764e-03 -3.31872846e+01] [-1.60686484e-02 -7.61245444e-05 9.99870888e-01 -3.67986058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.74, Y:-33.19, Z:-3.68 [[ 9.66606217e-01 2.55812331e-01 1.52470509e-02 1.75744571e+02] [-2.55781954e-01 9.66726457e-01 -3.94316865e-03 -3.31946962e+01] [-1.57484387e-02 -8.84291420e-05 9.99875982e-01 -3.68001298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:-33.20, Z:-3.68 [[ 9.66151094e-01 2.57540317e-01 1.50016343e-02 1.75773418e+02] [-2.57511131e-01 9.66267547e-01 -3.87888856e-03 -3.32023454e+01] [-1.54945625e-02 -1.15495377e-04 9.99879945e-01 -3.68070418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.80, Y:-33.21, Z:-3.68 [[ 9.65951535e-01 2.58285398e-01 1.50427886e-02 1.75801437e+02] [-2.58256147e-01 9.66068650e-01 -3.88915801e-03 -3.32091059e+01] [-1.55368792e-02 -1.28154471e-04 9.99879287e-01 -3.68132017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.83, Y:-33.22, Z:-3.68 [[ 9.65757107e-01 2.58995430e-01 1.53159052e-02 1.75829065e+02] [-2.58965202e-01 9.65878536e-01 -3.95940601e-03 -3.32162021e+01] [-1.58187721e-02 -1.42461982e-04 9.99874865e-01 -3.68221425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:-33.22, Z:-3.68 [[ 9.65661222e-01 2.59338396e-01 1.55563528e-02 1.75857033e+02] [-2.59307269e-01 9.65786505e-01 -4.02079665e-03 -3.32231193e+01] [-1.60668626e-02 -1.51147953e-04 9.99870908e-01 -3.68238871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.89, Y:-33.23, Z:-3.68 [[ 9.65619150e-01 2.59438762e-01 1.64677195e-02 1.75885256e+02] [-2.59403910e-01 9.65759547e-01 -4.25550173e-03 -3.32300340e+01] [-1.70078994e-02 -1.62596871e-04 9.99855342e-01 -3.68275754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.91, Y:-33.24, Z:-3.68 [[ 9.65701668e-01 2.59133222e-01 1.64396721e-02 1.75912514e+02] [-2.59098456e-01 9.65841575e-01 -4.24750428e-03 -3.32373396e+01] [-1.69787883e-02 -1.57671706e-04 9.99855838e-01 -3.68331930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.94, Y:-33.24, Z:-3.68 [[ 9.66030753e-01 2.57924115e-01 1.61162866e-02 1.75939216e+02] [-2.57890554e-01 9.66165168e-01 -4.16286216e-03 -3.32449148e+01] [-1.66446973e-02 -1.34785214e-04 9.99861458e-01 -3.68412350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:-33.25, Z:-3.68 [[ 9.66243978e-01 2.57121678e-01 1.61560614e-02 1.75966635e+02] [-2.57087856e-01 9.66379029e-01 -4.17216421e-03 -3.32519567e+01] [-1.66856328e-02 -1.22198645e-04 9.99860778e-01 -3.68475687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:-33.26, Z:-3.68 [[ 9.66432377e-01 2.56406367e-01 1.62553081e-02 1.75994458e+02] [-2.56372043e-01 9.66569068e-01 -4.19679904e-03 -3.32590070e+01] [-1.67879640e-02 -1.11484064e-04 9.99859066e-01 -3.68473846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.02, Y:-33.27, Z:-3.69 [[ 9.66589994e-01 2.55808958e-01 1.62960473e-02 1.76022399e+02] [-2.55774390e-01 9.66727349e-01 -4.20655154e-03 -3.32661607e+01] [-1.68299082e-02 -1.02100924e-04 9.99858362e-01 -3.68552139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.05, Y:-33.27, Z:-3.69 [[ 9.66707240e-01 2.55359539e-01 1.63895821e-02 1.76050307e+02] [-2.55324521e-01 9.66846160e-01 -4.22992379e-03 -3.32734567e+01] [-1.69263559e-02 -9.55642341e-05 9.99856734e-01 -3.68631054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:-33.28, Z:-3.69 [[ 9.66777675e-01 2.55094606e-01 1.63605980e-02 1.76078393e+02] [-2.55059687e-01 9.66916094e-01 -4.22162370e-03 -3.32820655e+01] [-1.68962390e-02 -9.15574725e-05 9.99857244e-01 -3.68595468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.11, Y:-33.29, Z:-3.69 [[ 9.66751464e-01 2.55214166e-01 1.60416957e-02 1.76106579e+02] [-2.55180618e-01 9.66884544e-01 -4.13897309e-03 -3.32892332e+01] [-1.65667922e-02 -9.21715363e-05 9.99862757e-01 -3.68622390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.058623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.13, Y:-33.30, Z:-3.69 [[ 9.66661738e-01 2.55558293e-01 1.59700826e-02 1.76134262e+02] [-2.55525101e-01 9.66793643e-01 -4.11992202e-03 -3.32960202e+01] [-1.64926546e-02 -9.81859986e-05 9.99863982e-01 -3.68704945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.16, Y:-33.30, Z:-3.69 [[ 9.66534383e-01 2.56052267e-01 1.57646091e-02 1.76162427e+02] [-2.56020000e-01 9.66662933e-01 -4.06620009e-03 -3.33023316e+01] [-1.62802230e-02 -1.05933024e-04 9.99867463e-01 -3.68839835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:-33.31, Z:-3.69 [[ 9.66452935e-01 2.56372238e-01 1.55563848e-02 1.76189916e+02] [-2.56340870e-01 9.66578121e-01 -4.01182391e-03 -3.33089067e+01] [-1.60649814e-02 -1.10498226e-04 9.99870944e-01 -3.68890028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:-33.32, Z:-3.69 [[ 9.66357645e-01 2.56729440e-01 1.55851336e-02 1.76218868e+02] [-2.56698018e-01 9.66483306e-01 -4.01824827e-03 -3.33151960e+01] [-1.60943741e-02 -1.17607987e-04 9.99870470e-01 -3.68932615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.25, Y:-33.32, Z:-3.69 [[ 9.66194535e-01 2.57354848e-01 1.53818838e-02 1.76246101e+02] [-2.57324325e-01 9.66316959e-01 -3.96554774e-03 -3.33204006e+01] [-1.58843281e-02 -1.26642317e-04 9.99873828e-01 -3.68969368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.27, Y:-33.33, Z:-3.69 [[ 9.66176055e-01 2.57414610e-01 1.55418507e-02 1.76273705e+02] [-2.57383469e-01 9.66301041e-01 -4.00600521e-03 -3.33274382e+01] [-1.60493107e-02 -1.29709133e-04 9.99871193e-01 -3.69042234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:-33.33, Z:-3.69 [[ 9.66216426e-01 2.57251144e-01 1.57374381e-02 1.76302103e+02] [-2.57219205e-01 9.66344572e-01 -4.05563296e-03 -3.33345579e+01] [-1.62511041e-02 -1.29352136e-04 9.99867934e-01 -3.69056731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.268623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:176.33, Y:-33.34, Z:-3.69 [[ 9.66191236e-01 2.57335963e-01 1.58964409e-02 1.76331823e+02] [-2.57303403e-01 9.66321988e-01 -4.09568046e-03 -3.33402280e+01] [-1.64150463e-02 -1.32997775e-04 9.99865255e-01 -3.68546170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:176.36, Y:-33.35, Z:-3.68 [[ 9.66177062e-01 2.57370291e-01 1.61993433e-02 1.76360106e+02] [-2.57336481e-01 9.66312845e-01 -4.17381945e-03 -3.33462013e+01] [-1.67278506e-02 -1.36033382e-04 9.99860070e-01 -3.68382124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.39, Y:-33.35, Z:-3.69 [[ 9.66196489e-01 2.57265309e-01 1.67004856e-02 1.76387114e+02] [-2.57229370e-01 9.66340800e-01 -4.30230887e-03 -3.33531227e+01] [-1.72451954e-02 -1.38979648e-04 9.99851281e-01 -3.69107227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.42, Y:-33.36, Z:-3.69 [[ 9.66267001e-01 2.56979626e-01 1.70162954e-02 1.76416286e+02] [-2.56942290e-01 9.66416811e-01 -4.38256163e-03 -3.33599486e+01] [-1.75710630e-02 -1.37481228e-04 9.99845608e-01 -3.69199358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.44, Y:-33.37, Z:-3.69 [[ 9.66310808e-01 2.56854939e-01 1.64000662e-02 1.76444297e+02] [-2.56820246e-01 9.66449959e-01 -4.22347240e-03 -3.33657122e+01] [-1.69346631e-02 -1.30682017e-04 9.99856590e-01 -3.69336806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:-33.37, Z:-3.69 [[ 9.66368062e-01 2.56654411e-01 1.61641983e-02 1.76473220e+02] [-2.56620692e-01 9.66503232e-01 -4.16208330e-03 -3.33727735e+01] [-1.66909670e-02 -1.25963383e-04 9.99860688e-01 -3.69422578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.50, Y:-33.38, Z:-3.69 [[ 9.66453397e-01 2.56336519e-01 1.61065677e-02 1.76502417e+02] [-2.56303002e-01 9.66587593e-01 -4.14683345e-03 -3.33799313e+01] [-1.66313934e-02 -1.20440386e-04 9.99861682e-01 -3.69471229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:-33.39, Z:-3.70 [[ 9.66551368e-01 2.55970614e-01 1.60467339e-02 1.76530429e+02] [-2.55937302e-01 9.66684557e-01 -4.13104840e-03 -3.33868046e+01] [-1.65695569e-02 -1.14087301e-04 9.99862709e-01 -3.69518613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:-33.39, Z:-3.70 [[ 9.66593536e-01 2.55807939e-01 1.61007361e-02 1.76558303e+02] [-2.55774390e-01 9.66727617e-01 -4.14432569e-03 -3.33923879e+01] [-1.66251776e-02 -1.12277529e-04 9.99861786e-01 -3.69573590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:-33.40, Z:-3.70 [[ 9.66544681e-01 2.55994206e-01 1.60731594e-02 1.76586956e+02] [-2.55960808e-01 9.66678309e-01 -4.13664888e-03 -3.33986893e+01] [-1.65965327e-02 -1.15842894e-04 9.99862261e-01 -3.69585444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.61, Y:-33.40, Z:-3.70 [[ 9.66514262e-01 2.56105942e-01 1.61222915e-02 1.76614646e+02] [-2.56072367e-01 9.66648712e-01 -4.14853230e-03 -3.34043783e+01] [-1.66470561e-02 -1.18857716e-04 9.99861421e-01 -3.69656001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.64, Y:-33.41, Z:-3.70 [[ 9.66392167e-01 2.56564149e-01 1.61560325e-02 1.76642508e+02] [-2.56530518e-01 9.66527196e-01 -4.15601169e-03 -3.34104042e+01] [-1.66815284e-02 -1.28178256e-04 9.99860845e-01 -3.69753981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.67, Y:-33.42, Z:-3.70 [[ 9.66119205e-01 2.57553029e-01 1.67367398e-02 1.76669823e+02] [-2.57517099e-01 9.66264153e-01 -4.30456982e-03 -3.34152206e+01] [-1.72807668e-02 -1.51269129e-04 9.99850665e-01 -3.69822810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.70, Y:-33.42, Z:-3.70 [[ 9.66017981e-01 2.57912163e-01 1.70463301e-02 1.76697719e+02] [-2.57874970e-01 9.66168355e-01 -4.38294316e-03 -3.34209119e+01] [-1.76000390e-02 -1.61819950e-04 9.99845094e-01 -3.69857387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.73, Y:-33.43, Z:-3.70 [[ 9.66027175e-01 2.57877708e-01 1.70465429e-02 1.76726144e+02] [-2.57840524e-01 9.66177552e-01 -4.38211533e-03 -3.34281340e+01] [-1.76000369e-02 -1.62047063e-04 9.99845094e-01 -3.69913975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.75, Y:-33.43, Z:-3.70 [[ 9.65865199e-01 2.58469499e-01 1.72608014e-02 1.76753023e+02] [-2.58431479e-01 9.66019403e-01 -4.43656490e-03 -3.34337272e+01] [-1.78209858e-02 -1.75610806e-04 9.99841178e-01 -3.69945839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:176.78, Y:-33.44, Z:-3.70 [[ 9.65578175e-01 2.59538216e-01 1.72829821e-02 1.76781983e+02] [-2.59500290e-01 9.65732818e-01 -4.44115676e-03 -3.34378456e+01] [-1.78433930e-02 -1.96654833e-04 9.99840775e-01 -3.70048786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:-33.44, Z:-3.70 [[ 9.65512535e-01 2.59808999e-01 1.68768886e-02 1.76810487e+02] [-2.59772890e-01 9.65660005e-01 -4.33598263e-03 -3.34432959e+01] [-1.74238636e-02 -1.97712544e-04 9.99848173e-01 -3.70113509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.84, Y:-33.45, Z:-3.70 [[ 9.65519222e-01 2.59796362e-01 1.66877900e-02 1.76838410e+02] [-2.59761070e-01 9.65663405e-01 -4.28657643e-03 -3.34488844e+01] [-1.72284250e-02 -1.96066231e-04 9.99851560e-01 -3.70216421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:-33.45, Z:-3.70 [[ 9.65594465e-01 2.59530676e-01 1.64668416e-02 1.76866706e+02] [-2.59496287e-01 9.65734846e-01 -4.22901233e-03 -3.34546673e+01] [-1.70001611e-02 -1.89573356e-04 9.99855469e-01 -3.70285431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.90, Y:-33.46, Z:-3.70 [[ 9.65811301e-01 2.58738314e-01 1.62177377e-02 1.76895083e+02] [-2.58704859e-01 9.65947439e-01 -4.16424237e-03 -3.34594770e+01] [-1.67429312e-02 -1.73735190e-04 9.99859812e-01 -3.70315686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.92, Y:-33.46, Z:-3.70 [[ 9.66040228e-01 2.57880106e-01 1.62520630e-02 1.76922766e+02] [-2.57846401e-01 9.66176912e-01 -4.17228581e-03 -3.34648837e+01] [-1.67783175e-02 -1.59940017e-04 9.99859221e-01 -3.70395047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:-33.47, Z:-3.70 [[ 9.66194376e-01 2.57311519e-01 1.60999941e-02 1.76950620e+02] [-2.57278382e-01 9.66328495e-01 -4.13215233e-03 -3.34711454e+01] [-1.66211335e-02 -1.49718093e-04 9.99861848e-01 -3.70418182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.98, Y:-33.48, Z:-3.71 [[ 9.66387840e-01 2.56560104e-01 1.64758996e-02 1.76978615e+02] [-2.56525306e-01 9.66528268e-01 -4.22777294e-03 -3.34767288e+01] [-1.70091006e-02 -1.40816835e-04 9.99855325e-01 -3.70502816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:-33.48, Z:-3.71 [[ 9.66670747e-01 2.55491317e-01 1.64879775e-02 1.77006133e+02] [-2.55456326e-01 9.66811342e-01 -4.23005247e-03 -3.34810614e+01] [-1.70215053e-02 -1.22890181e-04 9.99855116e-01 -3.70603563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.03, Y:-33.49, Z:-3.71 [[ 9.66917176e-01 2.54564976e-01 1.63660550e-02 1.77034736e+02] [-2.54530388e-01 9.67055666e-01 -4.19762553e-03 -3.34869502e+01] [-1.68954547e-02 -1.06902110e-04 9.99857256e-01 -3.70653085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.048623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.06, Y:-33.49, Z:-3.70 [[ 9.67146188e-01 2.53700667e-01 1.62548977e-02 1.77062641e+02] [-2.53666439e-01 9.67282773e-01 -4.16831216e-03 -3.34923692e+01] [-1.67805861e-02 -9.19548159e-05 9.99859192e-01 -3.70212738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.09, Y:-33.50, Z:-3.71 [[ 9.67573560e-01 2.52006165e-01 1.71551491e-02 1.77090809e+02] [-2.51967795e-01 9.67725626e-01 -4.39797988e-03 -3.34981466e+01] [-1.77097955e-02 -6.71760531e-05 9.99843167e-01 -3.70791830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.12, Y:-33.50, Z:-3.71 [[ 9.67735212e-01 2.51368338e-01 1.73930254e-02 1.77117806e+02] [-2.51328809e-01 9.67891500e-01 -4.45806615e-03 -3.35041030e+01] [-1.79551781e-02 -5.71407610e-05 9.99838791e-01 -3.70790000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.15, Y:-33.51, Z:-3.71 [[ 9.67931108e-01 2.50595307e-01 1.76454844e-02 1.77146422e+02] [-2.50554515e-01 9.68091933e-01 -4.52160841e-03 -3.35104896e+01] [-1.82155449e-02 -4.45503320e-05 9.99834082e-01 -3.70880027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.17, Y:-33.52, Z:-3.71 [[ 9.68310305e-01 2.49179383e-01 1.68756566e-02 1.77173574e+02] [-2.49141871e-01 9.68457348e-01 -4.32354959e-03 -3.35155661e+01] [-1.74206930e-02 -1.78950332e-05 9.99848248e-01 -3.70960113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:-33.52, Z:-3.71 [[ 9.68497445e-01 2.48469428e-01 1.66024734e-02 1.77201079e+02] [-2.48433034e-01 9.68639739e-01 -4.25255403e-03 -3.35216225e+01] [-1.71384452e-02 -6.01513002e-06 9.99853126e-01 -3.71097564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:-33.53, Z:-3.71 [[ 9.68636737e-01 2.47954511e-01 1.61688463e-02 1.77228550e+02] [-2.47919942e-01 9.68771676e-01 -4.14030300e-03 -3.35276987e+01] [-1.66905271e-02 1.87015783e-06 9.99860703e-01 -3.71154286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.26, Y:-33.53, Z:-3.71 [[ 9.68756052e-01 2.47488282e-01 1.61636217e-02 1.77255421e+02] [-2.47453691e-01 9.68890887e-01 -4.13770595e-03 -3.35340985e+01] [-1.66848195e-02 8.67983788e-06 9.99860799e-01 -3.71217769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:177.28, Y:-33.54, Z:-3.70 [[ 9.68891535e-01 2.46956922e-01 1.61701010e-02 1.77282862e+02] [-2.46922246e-01 9.69026459e-01 -4.13837557e-03 -3.35389050e+01] [-1.66912562e-02 1.68794115e-05 9.99860691e-01 -3.70414624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.31, Y:-33.55, Z:-3.71 [[ 9.68943283e-01 2.46728940e-01 1.65452342e-02 1.77309817e+02] [-2.46692624e-01 9.69084532e-01 -4.23312150e-03 -3.35456490e+01] [-1.70781641e-02 2.00674114e-05 9.99854157e-01 -3.71294399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:-33.55, Z:-3.71 [[ 9.68995171e-01 2.46512456e-01 1.67322503e-02 1.77337493e+02] [-2.46475304e-01 9.69139623e-01 -4.27971295e-03 -3.35514476e+01] [-1.72708893e-02 2.29347061e-05 9.99850847e-01 -3.71366156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.36, Y:-33.56, Z:-3.71 [[ 9.69010734e-01 2.46419716e-01 1.71907501e-02 1.77364510e+02] [-2.46380509e-01 9.69163208e-01 -4.39564547e-03 -3.35571528e+01] [-1.77438163e-02 2.39618726e-05 9.99842566e-01 -3.71440305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:-33.56, Z:-3.72 [[ 9.69035210e-01 2.46322772e-01 1.72004168e-02 1.77391989e+02] [-2.46283529e-01 9.69187852e-01 -4.39681683e-03 -3.35629505e+01] [-1.77534711e-02 2.44909722e-05 9.99842394e-01 -3.71512337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.42, Y:-33.57, Z:-3.72 [[ 9.69079321e-01 2.46150672e-01 1.71789764e-02 1.77419227e+02] [-2.46111522e-01 9.69231575e-01 -4.39004662e-03 -3.35693576e+01] [-1.77310193e-02 2.63593618e-05 9.99842793e-01 -3.71592732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.45, Y:-33.58, Z:-3.72 [[ 9.69171623e-01 2.45811421e-01 1.68259093e-02 1.77446707e+02] [-2.45773835e-01 9.69317669e-01 -4.29856858e-03 -3.35757688e+01] [-1.73662884e-02 3.06824332e-05 9.99849194e-01 -3.71682536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:177.47, Y:-33.58, Z:-3.71 [[ 9.69193764e-01 2.45747814e-01 1.64760618e-02 1.77474702e+02] [-2.45711782e-01 9.69333798e-01 -4.20821667e-03 -3.35814034e+01] [-1.70049636e-02 3.02148561e-05 9.99855405e-01 -3.70858268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.50, Y:-33.59, Z:-3.72 [[ 9.69186424e-01 2.45768155e-01 1.66039061e-02 1.77501138e+02] [-2.45731586e-01 9.69328640e-01 -4.23961297e-03 -3.35887013e+01] [-1.71366036e-02 2.88711477e-05 9.99853157e-01 -3.71793709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:-33.59, Z:-3.72 [[ 9.69136038e-01 2.45995566e-01 1.61716142e-02 1.77528091e+02] [-2.45960924e-01 9.69270953e-01 -4.12830933e-03 -3.35945476e+01] [-1.66902217e-02 2.33081922e-05 9.99860708e-01 -3.71876724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:-33.60, Z:-3.72 [[ 9.69039770e-01 2.46393927e-01 1.58731364e-02 1.77554653e+02] [-2.46360624e-01 9.69169764e-01 -4.05100167e-03 -3.35997049e+01] [-1.63819061e-02 1.50659400e-05 9.99865807e-01 -3.71969691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.58, Y:-33.60, Z:-3.72 [[ 9.68744382e-01 2.47576571e-01 1.54972480e-02 1.77581862e+02] [-2.47544998e-01 9.68868330e-01 -3.95377944e-03 -3.36042600e+01] [-1.59936559e-02 -6.06460598e-06 9.99872093e-01 -3.72025766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.61, Y:-33.61, Z:-3.72 [[ 9.68654193e-01 2.47927659e-01 1.55219145e-02 1.77609205e+02] [-2.47896052e-01 9.68778548e-01 -3.95871471e-03 -3.36103147e+01] [-1.60187726e-02 -1.31957141e-05 9.99871691e-01 -3.72093722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.64, Y:-33.62, Z:-3.72 [[ 9.68535778e-01 2.48387973e-01 1.55518816e-02 1.77636761e+02] [-2.48356321e-01 9.68660629e-01 -3.96523465e-03 -3.36168557e+01] [-1.60494120e-02 -2.19364752e-05 9.99871200e-01 -3.72140000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.66, Y:-33.62, Z:-3.72 [[ 9.68532626e-01 2.48373553e-01 1.59727908e-02 1.77664714e+02] [-2.48340183e-01 9.68664327e-01 -4.07137133e-03 -3.36224640e+01] [-1.64834936e-02 -2.34298324e-05 9.99864138e-01 -3.72168128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.69, Y:-33.63, Z:-3.72 [[ 9.68569398e-01 2.48216654e-01 1.61806768e-02 1.77691611e+02] [-2.48182408e-01 9.68704543e-01 -4.12313727e-03 -3.36286871e+01] [-1.66977265e-02 -2.22147615e-05 9.99860583e-01 -3.72238370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.72, Y:-33.64, Z:-3.72 [[ 9.68652614e-01 2.47874262e-01 1.64457936e-02 1.77718651e+02] [-2.47838856e-01 9.68792212e-01 -4.18944506e-03 -3.36350917e+01] [-1.69710124e-02 -1.77897755e-05 9.99855982e-01 -3.72277307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.75, Y:-33.64, Z:-3.72 [[ 9.68806925e-01 2.47249680e-01 1.67552500e-02 1.77745651e+02] [-2.47212858e-01 9.68951803e-01 -4.26699756e-03 -3.36416726e+01] [-1.72900434e-02 -8.21643777e-06 9.99850516e-01 -3.72315165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:-33.65, Z:-3.72 [[ 9.69215858e-01 2.45643879e-01 1.67244205e-02 1.77772782e+02] [-2.45606975e-01 9.69360142e-01 -4.25785674e-03 -3.36486310e+01] [-1.72579031e-02 1.91479510e-05 9.99851071e-01 -3.72391970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.80, Y:-33.66, Z:-3.72 [[ 9.69443921e-01 2.44780387e-01 1.61569319e-02 1.77798868e+02] [-2.44745840e-01 9.69578548e-01 -4.11252520e-03 -3.36553903e+01] [-1.66720801e-02 3.25206957e-05 9.99861011e-01 -3.72387719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.83, Y:-33.66, Z:-3.72 [[ 9.69707777e-01 2.43758584e-01 1.57664058e-02 1.77825721e+02] [-2.43725580e-01 9.69835940e-01 -4.01134147e-03 -3.36623735e+01] [-1.62686259e-02 4.71526195e-05 9.99867656e-01 -3.72467157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.85, Y:-33.67, Z:-3.73 [[ 9.70085314e-01 2.42226217e-01 1.61537142e-02 1.77853461e+02] [-2.42191381e-01 9.70219797e-01 -4.10858464e-03 -3.36707012e+01] [-1.66678603e-02 7.33872629e-05 9.99861079e-01 -3.72520222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:-33.68, Z:-3.73 [[ 9.70241627e-01 2.41590744e-01 1.62817872e-02 1.77880012e+02] [-2.41555278e-01 9.70378228e-01 -4.14034956e-03 -3.36780838e+01] [-1.67997620e-02 8.41878530e-05 9.99858870e-01 -3.72565055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.91, Y:-33.68, Z:-3.72 [[ 9.70384088e-01 2.41027323e-01 1.61416248e-02 1.77907278e+02] [-2.40992405e-01 9.70518326e-01 -4.10361156e-03 -3.36844364e+01] [-1.66548252e-02 9.20703872e-05 9.99861295e-01 -3.72080770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.94, Y:-33.69, Z:-3.73 [[ 9.70534243e-01 2.40407516e-01 1.63557184e-02 1.77935010e+02] [-2.40371599e-01 9.70672043e-01 -4.15674092e-03 -3.36923599e+01] [-1.68753503e-02 1.02809214e-04 9.99857596e-01 -3.72679648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.96, Y:-33.70, Z:-3.73 [[ 9.70628281e-01 2.40028143e-01 1.63471701e-02 1.77962000e+02] [-2.39992224e-01 9.70765924e-01 -4.15375202e-03 -3.36996183e+01] [-1.68662931e-02 1.08555488e-04 9.99857748e-01 -3.72717077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.99, Y:-33.71, Z:-3.73 [[ 9.70776703e-01 2.39429800e-01 1.63083680e-02 1.77988506e+02] [-2.39393985e-01 9.70913671e-01 -4.14286482e-03 -3.37069607e+01] [-1.68259427e-02 1.17671451e-04 9.99858427e-01 -3.72843231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.02, Y:-33.71, Z:-3.73 [[ 9.70875025e-01 2.39057396e-01 1.59137269e-02 1.78016245e+02] [-2.39023263e-01 9.71005431e-01 -4.04140875e-03 -3.37146041e+01] [-1.64184439e-02 1.19951886e-04 9.99865201e-01 -3.72962468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:-33.72, Z:-3.73 [[ 9.71027535e-01 2.38472272e-01 1.53786318e-02 1.78043128e+02] [-2.38440333e-01 9.71149299e-01 -3.90480139e-03 -3.37225593e+01] [-1.58661343e-02 1.24783582e-04 9.99874117e-01 -3.73029355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.07, Y:-33.73, Z:-3.73 [[ 9.71166686e-01 2.37922025e-01 1.51122102e-02 1.78070821e+02] [-2.37891132e-01 9.71284249e-01 -3.83615968e-03 -3.37309436e+01] [-1.55909586e-02 1.30489681e-04 9.99878445e-01 -3.73106821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:-33.74, Z:-3.73 [[ 9.71504890e-01 2.36568027e-01 1.46224735e-02 1.78096821e+02] [-2.36538961e-01 9.71614917e-01 -3.71118266e-03 -3.37397994e+01] [-1.50853605e-02 1.46647412e-04 9.99886199e-01 -3.73136536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.12, Y:-33.75, Z:-3.73 [[ 9.71678460e-01 2.35863359e-01 1.44722215e-02 1.78124559e+02] [-2.35834824e-01 9.71786217e-01 -3.67208941e-03 -3.37475680e+01] [-1.49300167e-02 1.55036385e-04 9.99888529e-01 -3.73151593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:178.15, Y:-33.76, Z:-3.73 [[ 9.71826396e-01 2.35234819e-01 1.47660255e-02 1.78152516e+02] [-2.35205052e-01 9.71938554e-01 -3.74588432e-03 -3.37560176e+01] [-1.52328319e-02 1.67305458e-04 9.99883960e-01 -3.73251894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.18, Y:-33.76, Z:-3.73 [[ 9.71963218e-01 2.34647513e-01 1.51012381e-02 1.78179349e+02] [-2.34616320e-01 9.72080507e-01 -3.83015983e-03 -3.37636562e+01] [-1.55783567e-02 1.79777577e-04 9.99878634e-01 -3.73271010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.21, Y:-33.77, Z:-3.73 [[ 9.71940325e-01 2.34703686e-01 1.56902506e-02 1.78205649e+02] [-2.34670037e-01 9.72066945e-01 -3.97848302e-03 -3.37717051e+01] [-1.61857386e-02 1.84816401e-04 9.99868985e-01 -3.73268599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.23, Y:-33.78, Z:-3.73 [[ 9.71883997e-01 2.34906655e-01 1.61356542e-02 1.78233046e+02] [-2.34871113e-01 9.72017916e-01 -4.09035432e-03 -3.37795208e+01] [-1.66449964e-02 1.85550849e-04 9.99861445e-01 -3.73331885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.26, Y:-33.79, Z:-3.73 [[ 9.71816061e-01 2.35183969e-01 1.61877844e-02 1.78259630e+02] [-2.35148249e-01 9.71950857e-01 -4.10277571e-03 -3.37879266e+01] [-1.66986380e-02 1.80614178e-04 9.99860552e-01 -3.73385542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.29, Y:-33.80, Z:-3.73 [[ 9.71680293e-01 2.35747503e-01 1.61407450e-02 1.78287021e+02] [-2.35712086e-01 9.71814327e-01 -4.08980085e-03 -3.37971553e+01] [-1.66499676e-02 1.69410220e-04 9.99861365e-01 -3.73433150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.31, Y:-33.80, Z:-3.73 [[ 9.71503992e-01 2.36473005e-01 1.61403608e-02 1.78314507e+02] [-2.36437703e-01 9.71638047e-01 -4.08889487e-03 -3.38047201e+01] [-1.66495019e-02 1.56187858e-04 9.99861375e-01 -3.73477379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.34, Y:-33.81, Z:-3.74 [[ 9.71294257e-01 2.37334631e-01 1.61164563e-02 1.78341249e+02] [-2.37299565e-01 9.71427945e-01 -4.08205858e-03 -3.38121018e+01] [-1.66247899e-02 1.40451980e-04 9.99861789e-01 -3.73532304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.37, Y:-33.82, Z:-3.74 [[ 9.71080167e-01 2.38210623e-01 1.60937283e-02 1.78368862e+02] [-2.38175794e-01 9.71213511e-01 -4.07525760e-03 -3.38204138e+01] [-1.66012160e-02 1.24265324e-04 9.99862183e-01 -3.73585782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:-33.83, Z:-3.74 [[ 9.70681010e-01 2.39870123e-01 1.55145443e-02 1.78396199e+02] [-2.39837979e-01 9.70804983e-01 -3.92785419e-03 -3.38297587e+01] [-1.60037718e-02 9.17165093e-05 9.99871927e-01 -3.73627498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:-33.84, Z:-3.74 [[ 9.70441625e-01 2.40842445e-01 1.54262548e-02 1.78422871e+02] [-2.40810800e-01 9.70564223e-01 -3.90477715e-03 -3.38369706e+01] [-1.59126070e-02 7.45495355e-05 9.99873384e-01 -3.73695387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.45, Y:-33.84, Z:-3.74 [[ 9.70146442e-01 2.42006093e-01 1.57776044e-02 1.78451174e+02] [-2.41973161e-01 9.70274728e-01 -3.99266891e-03 -3.38445902e+01] [-1.62748611e-02 5.57167126e-05 9.99867554e-01 -3.73728616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.48, Y:-33.85, Z:-3.74 [[ 9.70154960e-01 2.41971929e-01 1.57778006e-02 1.78479627e+02] [-2.41939005e-01 9.70283249e-01 -3.99189378e-03 -3.38517021e+01] [-1.62748618e-02 5.54901905e-05 9.99867554e-01 -3.73785205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.638623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.51, Y:-33.86, Z:-3.74 [[ 9.69849648e-01 2.43196619e-01 1.57183105e-02 1.78506339e+02] [-2.43164112e-01 9.69977012e-01 -3.97632988e-03 -3.38589247e+01] [-1.62134298e-02 3.43131133e-05 9.99868553e-01 -3.73828997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.668623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.53, Y:-33.87, Z:-3.74 [[ 9.69179910e-01 2.45855895e-01 1.56582796e-02 1.78533691e+02] [-2.45823999e-01 9.69306390e-01 -3.96013606e-03 -3.38675755e+01] [-1.61512933e-02 -1.10966050e-05 9.99869559e-01 -3.73910995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.56, Y:-33.87, Z:-3.74 [[ 9.68893385e-01 2.47003692e-01 1.53226569e-02 1.78560302e+02] [-2.46973303e-01 9.69014538e-01 -3.87456010e-03 -3.38747451e+01] [-1.58049079e-02 -3.02515253e-05 9.99875094e-01 -3.73970550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.59, Y:-33.88, Z:-3.74 [[ 9.68619054e-01 2.48086583e-01 1.51715092e-02 1.78587138e+02] [-2.48056937e-01 9.68737862e-01 -3.83546320e-03 -3.38817536e+01] [-1.56487423e-02 -4.82953608e-05 9.99877550e-01 -3.74060863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.61, Y:-33.89, Z:-3.74 [[ 9.68243398e-01 2.49575463e-01 1.47245026e-02 1.78612852e+02] [-2.49547725e-01 9.68355350e-01 -3.72153907e-03 -3.38893140e+01] [-1.51873557e-02 -7.11104889e-05 9.99884663e-01 -3.74225274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.64, Y:-33.90, Z:-3.74 [[ 9.68153893e-01 2.49920335e-01 1.47602318e-02 1.78640149e+02] [-2.49892528e-01 9.68266399e-01 -3.72887231e-03 -3.38964164e+01] [-1.52237576e-02 -7.83494052e-05 9.99884109e-01 -3.74309615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.67, Y:-33.90, Z:-3.74 [[ 9.68065287e-01 2.50270017e-01 1.46464735e-02 1.78666930e+02] [-2.50242693e-01 9.68176075e-01 -3.69905059e-03 -3.39036647e+01] [-1.51061266e-02 -8.42504919e-05 9.99885892e-01 -3.74366650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.69, Y:-33.91, Z:-3.74 [[ 9.67991778e-01 2.50553066e-01 1.46655473e-02 1.78694060e+02] [-2.50525716e-01 9.68102863e-01 -3.70304659e-03 -3.39113294e+01] [-1.51255680e-02 -8.95780875e-05 9.99885598e-01 -3.74390355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.72, Y:-33.92, Z:-3.74 [[ 9.67844523e-01 2.51093088e-01 1.51406878e-02 1.78721549e+02] [-2.51064021e-01 9.67962939e-01 -3.82183597e-03 -3.39197270e+01] [-1.56152612e-02 -1.02338948e-04 9.99878069e-01 -3.74432152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.75, Y:-33.93, Z:-3.74 [[ 9.67710686e-01 2.51601844e-01 1.52492977e-02 1.78748705e+02] [-2.51572434e-01 9.67830822e-01 -3.84850641e-03 -3.39268737e+01] [-1.57270317e-02 -1.12062167e-04 9.99876316e-01 -3.74480209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.78, Y:-33.93, Z:-3.75 [[ 9.67560051e-01 2.52174894e-01 1.53417683e-02 1.78775579e+02] [-2.52145213e-01 9.67681667e-01 -3.87087935e-03 -3.39332044e+01] [-1.58220865e-02 -1.23045232e-04 9.99874815e-01 -3.74534956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.80, Y:-33.94, Z:-3.75 [[ 9.67163714e-01 2.53678447e-01 1.55433739e-02 1.78803871e+02] [-2.53648194e-01 9.67288593e-01 -3.92057679e-03 -3.39394856e+01] [-1.60294941e-02 -1.50709111e-04 9.99871508e-01 -3.74520491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.83, Y:-33.95, Z:-3.75 [[ 9.66942875e-01 2.54496984e-01 1.58984935e-02 1.78831175e+02] [-2.54465456e-01 9.67073553e-01 -4.00933801e-03 -3.39462727e+01] [-1.63953770e-02 -1.68816572e-04 9.99865573e-01 -3.74570952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.86, Y:-33.95, Z:-3.75 [[ 9.66704180e-01 2.55397246e-01 1.59773610e-02 1.78859114e+02] [-2.55365545e-01 9.66836187e-01 -4.02815102e-03 -3.39531635e+01] [-1.64762695e-02 -1.86037083e-04 9.99864240e-01 -3.74541260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.058623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.89, Y:-33.96, Z:-3.75 [[ 9.66428324e-01 2.56419738e-01 1.62853587e-02 1.78886041e+02] [-2.56386962e-01 9.66565505e-01 -4.10499683e-03 -3.39595805e+01] [-1.67934681e-02 -2.08168427e-04 9.99858958e-01 -3.74587256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.91, Y:-33.96, Z:-3.75 [[ 9.65869970e-01 2.58511138e-01 1.63459962e-02 1.78913507e+02] [-2.58478435e-01 9.66008246e-01 -4.11925187e-03 -3.39645183e+01] [-1.68552396e-02 -2.46425822e-04 9.99857910e-01 -3.74618561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.118623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:178.94, Y:-33.97, Z:-3.75 [[ 9.65632469e-01 2.59394110e-01 1.63899552e-02 1.78940654e+02] [-2.59361373e-01 9.65771519e-01 -4.12938169e-03 -3.39700176e+01] [-1.69000893e-02 -2.63456263e-04 9.99857149e-01 -3.74679196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:-33.98, Z:-3.75 [[ 9.65410926e-01 2.60214530e-01 1.64359977e-02 1.78968454e+02] [-2.60181749e-01 9.65550786e-01 -4.13978413e-03 -3.39752170e+01] [-1.69470225e-02 -2.79753791e-04 9.99856350e-01 -3.74753494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.00, Y:-33.98, Z:-3.75 [[ 9.65192939e-01 2.61013527e-01 1.65689349e-02 1.78995823e+02] [-2.60980351e-01 9.65335097e-01 -4.17204240e-03 -3.39801730e+01] [-1.70835339e-02 -2.97340586e-04 9.99854022e-01 -3.74797229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.02, Y:-33.98, Z:-3.75 [[ 9.64943914e-01 2.61887705e-01 1.72648059e-02 1.79023971e+02] [-2.61851847e-01 9.65098297e-01 -4.34590948e-03 -3.39844186e+01] [-1.78003750e-02 -3.27262412e-04 9.99841507e-01 -3.74880724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.05, Y:-33.99, Z:-3.75 [[ 9.64903500e-01 2.62039470e-01 1.72207123e-02 1.79051486e+02] [-2.62003843e-01 9.65057100e-01 -4.33351835e-03 -3.39899065e+01] [-1.77545235e-02 -3.30465778e-04 9.99842321e-01 -3.74890959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.08, Y:-34.00, Z:-3.75 [[ 9.64876843e-01 2.62145898e-01 1.70940602e-02 1.79078625e+02] [-2.62110832e-01 9.65028196e-01 -4.30036846e-03 -3.39952447e+01] [-1.76235740e-02 -3.31212404e-04 9.99844638e-01 -3.74954409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.298623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:179.11, Y:-34.00, Z:-3.75 [[ 9.64918891e-01 2.62023425e-01 1.65909441e-02 1.79106724e+02] [-2.61990396e-01 9.65061460e-01 -4.17259570e-03 -3.39989142e+01] [-1.71045986e-02 -3.20451599e-04 9.99853654e-01 -3.75052788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.328623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.13, Y:-34.00, Z:-3.75 [[ 9.65005914e-01 2.61700568e-01 1.66252619e-02 1.79134105e+02] [-2.61667377e-01 9.65149062e-01 -4.17992516e-03 -3.40034181e+01] [-1.71397448e-02 -3.16636183e-04 9.99853054e-01 -3.75107803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.358623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.16, Y:-34.01, Z:-3.75 [[ 9.65055525e-01 2.61513307e-01 1.66920353e-02 1.79161841e+02] [-2.61479839e-01 9.65199819e-01 -4.19564649e-03 -3.40076488e+01] [-1.72083668e-02 -3.15598858e-04 9.99851875e-01 -3.75141271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.388623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:179.19, Y:-34.01, Z:-3.74 [[ 9.65243914e-01 2.60863657e-01 1.59480119e-02 1.79190644e+02] [-2.60833032e-01 9.65375610e-01 -4.00772407e-03 -3.40069319e+01] [-1.64412912e-02 -2.91337025e-04 9.99864790e-01 -3.74403174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.22, Y:-34.01, Z:-3.75 [[ 9.65344843e-01 2.60481957e-01 1.60774207e-02 1.79217761e+02] [-2.60450800e-01 9.65478672e-01 -4.03904063e-03 -3.40124961e+01] [-1.65745040e-02 -2.88310034e-04 9.99862592e-01 -3.75350479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.25, Y:-34.02, Z:-3.75 [[ 9.65559933e-01 2.59700401e-01 1.58024326e-02 1.79245534e+02] [-2.59670214e-01 9.65689199e-01 -3.96882209e-03 -3.40171632e+01] [-1.62909431e-02 -2.71285462e-04 9.99867257e-01 -3.75472190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.27, Y:-34.02, Z:-3.76 [[ 9.65814109e-01 2.58768260e-01 1.55593939e-02 1.79273151e+02] [-2.58738893e-01 9.65939400e-01 -3.90660445e-03 -3.40219563e+01] [-1.60403368e-02 -2.52766645e-04 9.99871314e-01 -3.75534361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.30, Y:-34.02, Z:-3.76 [[ 9.66621760e-01 2.55769062e-01 1.49853148e-02 1.79301828e+02] [-2.55741478e-01 9.66737890e-01 -3.76137241e-03 -3.40234994e+01] [-1.54489143e-02 -1.96542133e-04 9.99880639e-01 -3.75658093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:179.33, Y:-34.03, Z:-3.76 [[ 9.67124851e-01 2.53892251e-01 1.44307793e-02 1.79328557e+02] [-2.53866478e-01 9.67232495e-01 -3.62116616e-03 -3.40277582e+01] [-1.48773047e-02 -1.61371340e-04 9.99889314e-01 -3.75764114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.35, Y:-34.03, Z:-3.76 [[ 9.67763786e-01 2.51461943e-01 1.41473125e-02 1.79354795e+02] [-2.51436931e-01 9.67867179e-01 -3.54877264e-03 -3.40320899e+01] [-1.45851007e-02 -1.22783185e-04 9.99893624e-01 -3.75875199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.38, Y:-34.04, Z:-3.76 [[ 9.68455630e-01 2.48803120e-01 1.38094522e-02 1.79382704e+02] [-2.48779035e-01 9.68554077e-01 -3.46281666e-03 -3.40371506e+01] [-1.42367609e-02 -8.19179112e-05 9.99898649e-01 -3.75885728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.41, Y:-34.04, Z:-3.76 [[ 9.69941380e-01 2.42972912e-01 1.33373168e-02 1.79409735e+02] [-2.42949907e-01 9.70033074e-01 -3.34350217e-03 -3.40399723e+01] [-1.37500189e-02 2.70124674e-06 9.99905464e-01 -3.75925658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.44, Y:-34.05, Z:-3.76 [[ 9.70700782e-01 2.39919059e-01 1.33730096e-02 1.79437255e+02] [-2.39895658e-01 9.70792894e-01 -3.35114920e-03 -3.40455817e+01] [-1.37864272e-02 4.48362228e-05 9.99904962e-01 -3.76040859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:179.46, Y:-34.05, Z:-3.76 [[ 9.71509921e-01 2.36621210e-01 1.33744827e-02 1.79464667e+02] [-2.36597504e-01 9.71601974e-01 -3.35051348e-03 -3.40514283e+01] [-1.37874763e-02 9.06878613e-05 9.99904944e-01 -3.76080120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.49, Y:-34.06, Z:-3.76 [[ 9.73039275e-01 2.30235114e-01 1.36514616e-02 1.79491009e+02] [-2.30209802e-01 9.73135015e-01 -3.41890536e-03 -3.40566552e+01] [-1.40718673e-02 1.84028927e-04 9.99900969e-01 -3.76112789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.52, Y:-34.06, Z:-3.76 [[ 9.73775777e-01 2.27057077e-01 1.43464124e-02 1.79518498e+02] [-2.27028796e-01 9.73881423e-01 -3.59157184e-03 -3.40631056e+01] [-1.47871964e-02 2.40336913e-04 9.99890635e-01 -3.76173436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.55, Y:-34.07, Z:-3.76 [[ 9.74458486e-01 2.24092707e-01 1.45985732e-02 1.79545232e+02] [-2.24063109e-01 9.74567789e-01 -3.65349353e-03 -3.40694274e+01] [-1.50460205e-02 2.89176076e-04 9.99886760e-01 -3.76203660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.57, Y:-34.08, Z:-3.76 [[ 9.75064218e-01 2.21445807e-01 1.45439139e-02 1.79572119e+02] [-2.21416149e-01 9.75172624e-01 -3.63893494e-03 -3.40757201e+01] [-1.49886536e-02 3.27937828e-04 9.99887610e-01 -3.76245849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.838623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:179.60, Y:-34.08, Z:-3.76 [[ 9.75977695e-01 2.17408539e-01 1.41798091e-02 1.79598806e+02] [-2.17379937e-01 9.76080623e-01 -3.54674838e-03 -3.40821920e+01] [-1.46117303e-02 3.79141298e-04 9.99893171e-01 -3.76300332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:179.63, Y:-34.09, Z:-3.76 [[ 9.76292296e-01 2.15963165e-01 1.46035859e-02 1.79626649e+02] [-2.15932681e-01 9.76401424e-01 -3.65176554e-03 -3.40896475e+01] [-1.50476090e-02 4.11799089e-04 9.99886694e-01 -3.76367325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.65, Y:-34.10, Z:-3.76 [[ 9.76462787e-01 2.15200904e-01 1.44567010e-02 1.79653157e+02] [-2.15170957e-01 9.76569709e-01 -3.61437454e-03 -3.40971201e+01] [-1.48957929e-02 4.18640053e-04 9.99888964e-01 -3.76411620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.68, Y:-34.10, Z:-3.76 [[ 9.76540997e-01 2.14856677e-01 1.42929539e-02 1.79680202e+02] [-2.14827382e-01 9.76645500e-01 -3.57245065e-03 -3.41040548e+01] [-1.47267140e-02 4.18126638e-04 9.99891469e-01 -3.76388105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.958623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.71, Y:-34.11, Z:-3.76 [[ 9.76290920e-01 2.16006288e-01 1.40471697e-02 1.79708126e+02] [-2.15978126e-01 9.76391893e-01 -3.51003455e-03 -3.41123123e+01] [-1.44737322e-02 3.92933471e-04 9.99895173e-01 -3.76426405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.988623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:179.74, Y:-34.12, Z:-3.76 [[ 9.76116119e-01 2.16797480e-01 1.40062391e-02 1.79736118e+02] [-2.16769572e-01 9.76216528e-01 -3.49911779e-03 -3.41198703e+01] [-1.44317221e-02 3.79418813e-04 9.99895785e-01 -3.76440417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.018623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:179.76, Y:-34.13, Z:-3.76 [[ 9.75518098e-01 2.19449430e-01 1.43662291e-02 1.79763144e+02] [-2.19420366e-01 9.75623814e-01 -3.58837214e-03 -3.41276276e+01] [-1.48035014e-02 3.48278716e-04 9.99890362e-01 -3.76411987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.048623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:179.79, Y:-34.13, Z:-3.76 [[ 9.75131683e-01 2.21162602e-01 1.43284695e-02 1.79790292e+02] [-2.21133890e-01 9.75236895e-01 -3.57799396e-03 -3.41346746e+01] [-1.47649705e-02 3.20505078e-04 9.99890941e-01 -3.76459409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.078623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:179.82, Y:-34.14, Z:-3.77 [[ 9.74733224e-01 2.22907562e-01 1.44000575e-02 1.79817742e+02] [-2.22878769e-01 9.74839542e-01 -3.59478553e-03 -3.41420168e+01] [-1.48390503e-02 2.94489812e-04 9.99889852e-01 -3.76520754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.108623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:179.84, Y:-34.15, Z:-3.77 [[ 9.74336472e-01 2.24642492e-01 1.42895307e-02 1.79844261e+02] [-2.24614340e-01 9.74441215e-01 -3.56618270e-03 -3.41493012e+01] [-1.47254238e-02 2.65028375e-04 9.99891540e-01 -3.76534447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.138623853 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:179.87, Y:-34.16, Z:-3.77 [[ 9.73938441e-01 2.26372406e-01 1.41225982e-02 1.79870795e+02] [-2.26345109e-01 9.74040799e-01 -3.52323746e-03 -3.41565412e+01] [-1.45535506e-02 2.34835380e-04 9.99894064e-01 -3.76612108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.168623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:179.90, Y:-34.16, Z:-3.77 [[ 9.73188606e-01 2.29618739e-01 1.33855288e-02 1.79897977e+02] [-2.29594536e-01 9.73280640e-01 -3.33844103e-03 -3.41643220e+01] [-1.37944447e-02 1.75688488e-04 9.99904837e-01 -3.76659885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:179.92, Y:-34.17, Z:-3.77 [[ 9.72770808e-01 2.31373676e-01 1.35342631e-02 1.79924096e+02] [-2.31349113e-01 9.72864944e-01 -3.37470633e-03 -3.41714357e+01] [-1.39478283e-02 1.51676037e-04 9.99902713e-01 -3.76786810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22862385300002 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:179.95, Y:-34.18, Z:-3.77 [[ 9.72367946e-01 2.33073369e-01 1.33184803e-02 1.79951441e+02] [-2.33049765e-01 9.72459145e-01 -3.31928490e-03 -3.41787956e+01] [-1.37253148e-02 1.23697540e-04 9.99905796e-01 -3.76812269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25862385300002 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:179.98, Y:-34.19, Z:-3.77 [[ 9.71378325e-01 2.37146328e-01 1.36297232e-02 1.79978581e+02] [-2.37122023e-01 9.71473939e-01 -3.39581107e-03 -3.41863995e+01] [-1.40462250e-02 6.67097285e-05 9.99901345e-01 -3.76830907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28862385300002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:180.01, Y:-34.19, Z:-3.77 [[ 9.70839096e-01 2.39342826e-01 1.36550653e-02 1.80005784e+02] [-2.39318662e-01 9.70935122e-01 -3.40109973e-03 -3.41930240e+01] [-1.40722113e-02 3.40086362e-05 9.99900981e-01 -3.76805053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:180.03, Y:-34.20, Z:-3.77 [[ 9.70271783e-01 2.41608912e-01 1.40641575e-02 1.80032871e+02] [-2.41583532e-01 9.70373708e-01 -3.50190587e-03 -3.41996104e+01] [-1.44935803e-02 1.31609602e-07 9.99894963e-01 -3.76814450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:180.06, Y:-34.21, Z:-3.77 [[ 9.69228675e-01 2.45715098e-01 1.48278715e-02 1.80059593e+02] [-2.45687385e-01 9.69342090e-01 -3.69087820e-03 -3.42051773e+01] [-1.52801844e-02 -6.57159658e-05 9.99883249e-01 -3.76802398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37862385300002 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:180.09, Y:-34.21, Z:-3.77 [[ 9.68747692e-01 2.47582617e-01 1.51906649e-02 1.80086550e+02] [-2.47553784e-01 9.68866780e-01 -3.77971308e-03 -3.42118243e+01] [-1.56535218e-02 -9.89182423e-05 9.99877471e-01 -3.76826638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40862385300002 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:180.11, Y:-34.22, Z:-3.77 [[ 9.68383965e-01 2.48989627e-01 1.53838300e-02 1.80113260e+02] [-2.48960251e-01 9.68506144e-01 -3.82663130e-03 -3.42182686e+01] [-1.58521254e-02 -1.24313793e-04 9.99874339e-01 -3.76831984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43862385300002 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:180.14, Y:-34.22, Z:-3.77 [[ 9.68074382e-01 2.50159753e-01 1.58773018e-02 1.80140958e+02] [-2.50128644e-01 9.68204563e-01 -3.94789100e-03 -3.42248546e+01] [-1.63600795e-02 -1.49515827e-04 9.99866154e-01 -3.76847972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46862385300003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:180.17, Y:-34.23, Z:-3.77 [[ 9.67831245e-01 2.51079898e-01 1.61730207e-02 1.80168084e+02] [-2.51047768e-01 9.67966351e-01 -4.02017723e-03 -3.42307241e+01] [-1.66643256e-02 -1.69347633e-04 9.99861126e-01 -3.76933464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49862385300003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:180.20, Y:-34.24, Z:-3.77 [[ 9.67846117e-01 2.51022543e-01 1.61733132e-02 1.80195766e+02] [-2.50990425e-01 9.67981226e-01 -4.01900015e-03 -3.42374717e+01] [-1.66643232e-02 -1.69573060e-04 9.99861126e-01 -3.76988442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52862385300003 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:180.22, Y:-34.24, Z:-3.77 [[ 9.67559183e-01 2.52171858e-01 1.54460769e-02 1.80224004e+02] [-2.52142724e-01 9.67682448e-01 -3.83741434e-03 -3.42418453e+01] [-1.59145854e-02 -1.81690417e-04 9.99873338e-01 -3.77090440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.558623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:180.25, Y:-34.25, Z:-3.77 [[ 9.67584807e-01 2.52096789e-01 1.50615566e-02 1.80249965e+02] [-2.52069096e-01 9.67702009e-01 -3.74079743e-03 -3.42472343e+01] [-1.55181416e-02 -1.77014187e-04 9.99879571e-01 -3.77182970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588623853 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:180.28, Y:-34.25, Z:-3.76 [[ 9.67558190e-01 2.52227044e-01 1.45831028e-02 1.80276346e+02] [-2.52201116e-01 9.67668067e-01 -3.62070589e-03 -3.42523068e+01] [-1.50248428e-02 -1.74631156e-04 9.99887105e-01 -3.76454714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.618623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:180.30, Y:-34.26, Z:-3.77 [[ 9.67821113e-01 2.51201699e-01 1.48323764e-02 1.80303317e+02] [-2.51174778e-01 9.67934750e-01 -3.68119666e-03 -3.42586580e+01] [-1.52814954e-02 -1.62779006e-04 9.99883218e-01 -3.77243291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648623853 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:180.33, Y:-34.26, Z:-3.77 [[ 9.67896745e-01 2.50900438e-01 1.49953764e-02 1.80329551e+02] [-2.50872902e-01 9.68012885e-01 -3.72052923e-03 -3.42643289e+01] [-1.54492000e-02 -1.60845462e-04 9.99880641e-01 -3.77251873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.678623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:180.36, Y:-34.27, Z:-3.77 [[ 9.67970419e-01 2.50600814e-01 1.52479650e-02 1.80356462e+02] [-2.50572328e-01 9.68090495e-01 -3.78176788e-03 -3.42703506e+01] [-1.57091241e-02 -1.60078647e-04 9.99876591e-01 -3.77338755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:180.38, Y:-34.28, Z:-3.77 [[ 9.68009405e-01 2.50444769e-01 1.53365643e-02 1.80382427e+02] [-2.50415950e-01 9.68130876e-01 -3.80260172e-03 -3.42761548e+01] [-1.58001431e-02 -1.59566089e-04 9.99875157e-01 -3.77353528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.738623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:180.41, Y:-34.28, Z:-3.77 [[ 9.68140981e-01 2.49920942e-01 1.55744718e-02 1.80410493e+02] [-2.49891177e-01 9.68266234e-01 -3.86013135e-03 -3.42803693e+01] [-1.60449628e-02 -1.54771723e-04 9.99871259e-01 -3.77382609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.768623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:180.44, Y:-34.29, Z:-3.77 [[ 9.68192084e-01 2.49696432e-01 1.59931584e-02 1.80437745e+02] [-2.49665035e-01 9.68324154e-01 -3.96267679e-03 -3.42854960e+01] [-1.64760279e-02 -1.56300157e-04 9.99864249e-01 -3.77494062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.798623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:180.46, Y:-34.29, Z:-3.78 [[ 9.68312007e-01 2.49251873e-01 1.56639933e-02 1.80464833e+02] [-2.49221716e-01 9.68438683e-01 -3.87998291e-03 -3.42906339e+01] [-1.61367100e-02 -1.46773250e-04 9.99869784e-01 -3.77530142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.828623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:180.49, Y:-34.30, Z:-3.78 [[ 9.68573790e-01 2.48264399e-01 1.51526096e-02 1.80491286e+02] [-2.48236074e-01 9.68692300e-01 -3.75226046e-03 -3.42951737e+01] [-1.56097689e-02 -1.27083181e-04 9.99878152e-01 -3.77636428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.858623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:180.52, Y:-34.30, Z:-3.78 [[ 9.68721415e-01 2.47707021e-01 1.48341584e-02 1.80518561e+02] [-2.47679829e-01 9.68834980e-01 -3.67209830e-03 -3.43006621e+01] [-1.52814561e-02 -1.16881568e-04 9.99883225e-01 -3.77719628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.888623853 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:180.55, Y:-34.31, Z:-3.78 [[ 9.68830245e-01 2.47283925e-01 1.47856737e-02 1.80545700e+02] [-2.47256878e-01 9.68943057e-01 -3.65896500e-03 -3.43060590e+01] [-1.52312791e-02 -1.10943557e-04 9.99883991e-01 -3.77786054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.918623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:180.57, Y:-34.31, Z:-3.78 [[ 9.69016981e-01 2.46587435e-01 1.41678504e-02 1.80572171e+02] [-2.46562541e-01 9.69120543e-01 -3.50509034e-03 -3.43097728e+01] [-1.45946661e-02 -9.67691512e-05 9.99893488e-01 -3.77831959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:180.60, Y:-34.32, Z:-3.78 [[ 9.69096362e-01 2.46309871e-01 1.35531510e-02 1.80599615e+02] [-2.46287080e-01 9.69191126e-01 -3.35179345e-03 -3.43152799e+01] [-1.39611735e-02 -8.97551556e-05 9.99902534e-01 -3.77930236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97862385300002 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:180.63, Y:-34.32, Z:-3.78 [[ 9.69145682e-01 2.46150595e-01 1.29047280e-02 1.80625762e+02] [-2.46129926e-01 9.69231591e-01 -3.19086341e-03 -3.43201887e+01] [-1.32931030e-02 -8.38282540e-05 9.99911639e-01 -3.78000342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00862385300002 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:180.65, Y:-34.33, Z:-3.78 [[ 9.69192625e-01 2.45996645e-01 1.23006644e-02 1.80652928e+02] [-2.45977879e-01 9.69270676e-01 -3.03958420e-03 -3.43253675e+01] [-1.26704008e-02 -7.97487407e-05 9.99919724e-01 -3.78056278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:180.68, Y:-34.33, Z:-3.78 [[ 9.69335724e-01 2.45464007e-01 1.16479977e-02 1.80681278e+02] [-2.45447150e-01 9.69405703e-01 -2.87754816e-03 -3.43288803e+01] [-1.19979699e-02 -6.96575989e-05 9.99928019e-01 -3.78155167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06862385300002 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:180.71, Y:-34.33, Z:-3.78 [[ 9.69475264e-01 2.44910355e-01 1.16889255e-02 1.80708038e+02] [-2.44893344e-01 9.69545726e-01 -2.88720783e-03 -3.43333661e+01] [-1.20400548e-02 -6.34634776e-05 9.99927514e-01 -3.78188146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:180.73, Y:-34.34, Z:-3.78 [[ 9.69684938e-01 2.44065109e-01 1.19726538e-02 1.80734729e+02] [-2.44047219e-01 9.69758846e-01 -2.95557022e-03 -3.43383657e+01] [-1.23319385e-02 -5.59209408e-05 9.99923957e-01 -3.78236836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:180.76, Y:-34.34, Z:-3.78 [[ 9.69928949e-01 2.43067540e-01 1.24902004e-02 1.80762495e+02] [-2.43048015e-01 9.70009365e-01 -3.08115736e-03 -3.43438412e+01] [-1.28645407e-02 -4.72146939e-05 9.99917247e-01 -3.78241582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15862385300002 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:180.79, Y:-34.35, Z:-3.78 [[ 9.70433808e-01 2.40985683e-01 1.35692328e-02 1.80790508e+02] [-2.40962451e-01 9.70528670e-01 -3.34621335e-03 -3.43485178e+01] [-1.39757189e-02 -2.23970213e-05 9.99902335e-01 -3.78232918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18862385300002 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:180.82, Y:-34.35, Z:-3.78 [[ 9.70602752e-01 2.40286858e-01 1.38752629e-02 1.80818127e+02] [-2.40262510e-01 9.70701924e-01 -3.42061976e-03 -3.43533456e+01] [-1.42906744e-02 -1.36425343e-05 9.99897883e-01 -3.77691345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21862385300003 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:180.85, Y:-34.36, Z:-3.78 [[ 9.70883644e-01 2.39147661e-01 1.39049295e-02 1.80845721e+02] [-2.39123106e-01 9.70983211e-01 -3.42690206e-03 -3.43589621e+01] [-1.43209887e-02 2.13322597e-06 9.99897449e-01 -3.78045026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:180.87, Y:-34.36, Z:-3.78 [[ 9.71360535e-01 2.37264739e-01 1.28122844e-02 1.80873175e+02] [-2.37243739e-01 9.71445028e-01 -3.15677950e-03 -3.43646450e+01] [-1.31954224e-02 2.67367647e-05 9.99912936e-01 -3.78472208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:180.90, Y:-34.37, Z:-3.79 [[ 9.71569154e-01 2.36430694e-01 1.24058874e-02 1.80899753e+02] [-2.36410948e-01 9.71648355e-01 -3.05586129e-03 -3.43707286e+01] [-1.27766595e-02 3.60929695e-05 9.99918375e-01 -3.78523889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:180.93, Y:-34.38, Z:-3.79 [[ 9.71758443e-01 2.35663449e-01 1.21764704e-02 1.80926524e+02] [-2.35644379e-01 9.71834727e-01 -2.99833605e-03 -3.43766781e+01] [-1.25401150e-02 4.43415656e-05 9.99921369e-01 -3.78640557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.338623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:180.95, Y:-34.38, Z:-3.79 [[ 9.71951270e-01 2.34891069e-01 1.17010566e-02 1.80953164e+02] [-2.34873414e-01 9.72021699e-01 -2.88034918e-03 -3.43823435e+01] [-1.20502492e-02 5.12919287e-05 9.99927392e-01 -3.78659063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:180.98, Y:-34.39, Z:-3.79 [[ 9.72007822e-01 2.34658393e-01 1.16718651e-02 1.80980107e+02] [-2.34640821e-01 9.72077896e-01 -2.87210404e-03 -3.43883063e+01] [-1.20199254e-02 5.30115803e-05 9.99927757e-01 -3.78716132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.398623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:181.01, Y:-34.39, Z:-3.79 [[ 9.72074475e-01 2.34382183e-01 1.16708321e-02 1.81007562e+02] [-2.34364604e-01 9.72144531e-01 -2.87101952e-03 -3.43943063e+01] [-1.20186514e-02 5.56148522e-05 9.99927772e-01 -3.78724817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:181.04, Y:-34.40, Z:-3.79 [[ 9.72206212e-01 2.33820034e-01 1.19696403e-02 1.81035047e+02] [-2.33801513e-01 9.72279892e-01 -2.94363556e-03 -3.44001986e+01] [-1.23261216e-02 6.33007555e-05 9.99924028e-01 -3.78763002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.458623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.06, Y:-34.41, Z:-3.79 [[ 9.72448603e-01 2.32787538e-01 1.23966232e-02 1.81061812e+02] [-2.32767599e-01 9.72527612e-01 -3.04771897e-03 -3.44071534e+01] [-1.27655294e-02 7.82178291e-05 9.99918514e-01 -3.78789304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.488623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:181.09, Y:-34.41, Z:-3.79 [[ 9.72596511e-01 2.32151366e-01 1.27188482e-02 1.81089178e+02] [-2.32130335e-01 9.72679667e-01 -3.12600064e-03 -3.44144084e+01] [-1.30970703e-02 8.79068191e-05 9.99914226e-01 -3.78824038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.518623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:181.12, Y:-34.42, Z:-3.79 [[ 9.72734852e-01 2.31575547e-01 1.26362161e-02 1.81115291e+02] [-2.31554751e-01 9.72816919e-01 -3.10487504e-03 -3.44211337e+01] [-1.30117379e-02 9.42442932e-05 9.99915339e-01 -3.78844405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.548623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:181.14, Y:-34.43, Z:-3.79 [[ 9.72826878e-01 2.31169742e-01 1.29775387e-02 1.81142016e+02] [-2.31147787e-01 9.72913429e-01 -3.18756604e-03 -3.44279088e+01] [-1.33628905e-02 1.01220579e-04 9.99910707e-01 -3.78850175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.578623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:181.17, Y:-34.43, Z:-3.79 [[ 9.72885966e-01 2.30914778e-01 1.30867238e-02 1.81168008e+02] [-2.30892440e-01 9.72973974e-01 -3.21352030e-03 -3.44337684e+01] [-1.34750910e-02 1.04763215e-04 9.99909201e-01 -3.78918752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.608623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:181.19, Y:-34.44, Z:-3.79 [[ 9.72828169e-01 2.31173320e-01 1.28159753e-02 1.81194822e+02] [-2.31151933e-01 9.72912579e-01 -3.14600549e-03 -3.44400935e+01] [-1.31960961e-02 9.80852927e-05 9.99912923e-01 -3.78974434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.638623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:181.22, Y:-34.45, Z:-3.79 [[ 9.72728420e-01 2.31614268e-01 1.24198143e-02 1.81220620e+02] [-2.31594230e-01 9.72807701e-01 -3.04792417e-03 -3.44466581e+01] [-1.27880338e-02 8.84451204e-05 9.99918226e-01 -3.79042422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.668623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:181.25, Y:-34.45, Z:-3.79 [[ 9.72626148e-01 2.32063418e-01 1.20393457e-02 1.81248132e+02] [-2.32044637e-01 9.72700655e-01 -2.95342184e-03 -3.44535666e+01] [-1.23960606e-02 7.89097127e-05 9.99923163e-01 -3.79071409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:181.27, Y:-34.46, Z:-3.79 [[ 9.72386439e-01 2.33081462e-01 1.17322155e-02 1.81274210e+02] [-2.33063710e-01 9.72457211e-01 -2.87733031e-03 -3.44602081e+01] [-1.20797299e-02 6.35233042e-05 9.99927035e-01 -3.79171903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:181.30, Y:-34.47, Z:-3.79 [[ 9.71876516e-01 2.35196351e-01 1.17776764e-02 1.81301127e+02] [-2.35178630e-01 9.71947877e-01 -2.88737322e-03 -3.44666955e+01] [-1.21263872e-02 3.63124189e-05 9.99926472e-01 -3.79192787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75862385300002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.33, Y:-34.47, Z:-3.79 [[ 9.71554309e-01 2.36511220e-01 1.20278138e-02 1.81327712e+02] [-2.36492849e-01 9.71628758e-01 -2.94786802e-03 -3.44731779e+01] [-1.23837736e-02 1.95219248e-05 9.99923318e-01 -3.79214118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:181.36, Y:-34.48, Z:-3.79 [[ 9.71253168e-01 2.37726772e-01 1.23800577e-02 1.81355357e+02] [-2.37707422e-01 9.71332066e-01 -3.03302548e-03 -3.44794772e+01] [-1.27461784e-02 3.00400171e-06 9.99918764e-01 -3.79272695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81862385300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:181.38, Y:-34.48, Z:-3.79 [[ 9.70555582e-01 2.40542687e-01 1.26916826e-02 1.81382980e+02] [-2.40522605e-01 9.70638560e-01 -3.10840515e-03 -3.44848714e+01] [-1.30667407e-02 -3.57566065e-05 9.99914626e-01 -3.79291152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84862385300002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:181.41, Y:-34.49, Z:-3.79 [[ 9.70269758e-01 2.41729486e-01 1.19771561e-02 1.81409775e+02] [-2.41711697e-01 9.70343678e-01 -2.93299973e-03 -3.44900201e+01] [-1.23309502e-02 -4.92177889e-05 9.99923970e-01 -3.78636244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:181.44, Y:-34.50, Z:-3.79 [[ 9.70072936e-01 2.42499658e-01 1.23456192e-02 1.81436570e+02] [-2.42480848e-01 9.70151489e-01 -3.02106535e-03 -3.44967539e+01] [-1.27097281e-02 -6.29224647e-05 9.99919226e-01 -3.79476012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:181.46, Y:-34.50, Z:-3.80 [[ 9.69912848e-01 2.43165218e-01 1.18213189e-02 1.81462530e+02] [-2.43148030e-01 9.69984882e-01 -2.89199340e-03 -3.45029055e+01] [-1.21697329e-02 -6.93488518e-05 9.99925944e-01 -3.79546035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:181.49, Y:-34.51, Z:-3.80 [[ 9.69832979e-01 2.43493112e-01 1.16231697e-02 1.81489221e+02] [-2.43476532e-01 9.69902623e-01 -2.84245776e-03 -3.45091133e+01] [-1.19654617e-02 -7.32597742e-05 9.99928409e-01 -3.79667965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:181.52, Y:-34.51, Z:-3.80 [[ 9.69875005e-01 2.43333853e-01 1.14503274e-02 1.81516285e+02] [-2.43317763e-01 9.69942591e-01 -2.79918530e-03 -3.45144254e+01] [-1.17872967e-02 -7.12081790e-05 9.99930525e-01 -3.79683379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99862385300003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:181.54, Y:-34.52, Z:-3.80 [[ 9.70001753e-01 2.42841632e-01 1.11598188e-02 1.81543223e+02] [-2.42826323e-01 9.70065945e-01 -2.72743734e-03 -3.45197721e+01] [-1.14880955e-02 -6.42787587e-05 9.99934008e-01 -3.79699299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:181.57, Y:-34.53, Z:-3.80 [[ 9.70157343e-01 2.42216664e-01 1.12168517e-02 1.81570415e+02] [-2.42201170e-01 9.70222183e-01 -2.74026524e-03 -3.45254282e+01] [-1.15465763e-02 -5.82461696e-05 9.99933334e-01 -3.79793722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.058623853 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:181.60, Y:-34.53, Z:-3.80 [[ 9.70677294e-01 2.40102404e-01 1.16802075e-02 1.81596689e+02] [-2.40085461e-01 9.70747565e-01 -2.85259202e-03 -3.45310499e+01] [-1.20234472e-02 -3.53016949e-05 9.99927715e-01 -3.79821969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:181.62, Y:-34.54, Z:-3.80 [[ 9.71010601e-01 2.38729580e-01 1.21078969e-02 1.81624038e+02] [-2.38711282e-01 9.71086086e-01 -2.95581768e-03 -3.45368849e+01] [-1.24634513e-02 -2.01612884e-05 9.99922328e-01 -3.79850580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.118623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:181.65, Y:-34.54, Z:-3.80 [[ 9.71365604e-01 2.37252650e-01 1.26508496e-02 1.81650226e+02] [-2.37232560e-01 9.71447981e-01 -3.08742846e-03 -3.45424421e+01] [-1.30221429e-02 -2.17164181e-06 9.99915208e-01 -3.79888533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:181.68, Y:-34.55, Z:-3.80 [[ 9.71774981e-01 2.35550480e-01 1.30137389e-02 1.81677063e+02] [-2.35529085e-01 9.71862115e-01 -3.17474110e-03 -3.45486230e+01] [-1.33953716e-02 2.00199558e-05 9.99910278e-01 -3.79964752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.178623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:181.70, Y:-34.56, Z:-3.80 [[ 9.72821752e-01 2.31155208e-01 1.36054542e-02 1.81703779e+02] [-2.31131408e-01 9.72916884e-01 -3.31801342e-03 -3.45556361e+01] [-1.40039522e-02 8.31878438e-05 9.99901936e-01 -3.80004220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:181.73, Y:-34.56, Z:-3.80 [[ 9.73446562e-01 2.28513696e-01 1.35381185e-02 1.81729666e+02] [-2.28489886e-01 9.73540691e-01 -3.30089043e-03 -3.45625453e+01] [-1.39342079e-02 1.19917288e-04 9.99902907e-01 -3.80046635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.238623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:181.76, Y:-34.57, Z:-3.80 [[ 9.74150518e-01 2.25495229e-01 1.35155619e-02 1.81756888e+02] [-2.25471236e-01 9.74244259e-01 -3.29330410e-03 -3.45700094e+01] [-1.39100829e-02 1.60803459e-04 9.99903237e-01 -3.80126845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.268623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:181.78, Y:-34.58, Z:-3.80 [[ 9.75480424e-01 2.19694554e-01 1.31242104e-02 1.81782453e+02] [-2.19671417e-01 9.75568679e-01 -3.19708014e-03 -3.45782866e+01] [-1.35059497e-02 2.35675199e-04 9.99908763e-01 -3.80230228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.298623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:181.81, Y:-34.59, Z:-3.79 [[ 9.76058553e-01 2.17185307e-01 1.18424837e-02 1.81809490e+02] [-2.17166295e-01 9.76130362e-01 -2.88392015e-03 -3.45851584e+01] [-1.21861530e-02 2.43086606e-04 9.99925717e-01 -3.79490386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.328623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:181.84, Y:-34.59, Z:-3.80 [[ 9.76657091e-01 2.14453434e-01 1.22739845e-02 1.81835582e+02] [-2.14432807e-01 9.76734172e-01 -2.98805192e-03 -3.45936390e+01] [-1.26292181e-02 2.86357148e-04 9.99920207e-01 -3.80414612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.358623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:181.86, Y:-34.60, Z:-3.80 [[ 9.77392587e-01 2.11100159e-01 1.18513409e-02 1.81862139e+02] [-2.11080692e-01 9.77464384e-01 -2.88430460e-03 -3.46028349e+01] [-1.21931408e-02 3.17508681e-04 9.99925610e-01 -3.80453416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.388623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:181.89, Y:-34.61, Z:-3.80 [[ 9.77567322e-01 2.10292101e-01 1.18051929e-02 1.81887724e+02] [-2.10272735e-01 9.77638546e-01 -2.87240970e-03 -3.46102154e+01] [-1.21452567e-02 3.25663652e-04 9.99926191e-01 -3.80476423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.418623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:181.92, Y:-34.62, Z:-3.81 [[ 9.77580002e-01 2.10233126e-01 1.18055765e-02 1.81915437e+02] [-2.10213774e-01 9.77651230e-01 -2.87083245e-03 -3.46168281e+01] [-1.21452804e-02 3.24773604e-04 9.99926191e-01 -3.80531400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:181.94, Y:-34.63, Z:-3.81 [[ 9.77673657e-01 2.09800167e-01 1.17520319e-02 1.81942587e+02] [-2.09780968e-01 9.77744231e-01 -2.85716257e-03 -3.46255976e+01] [-1.20899146e-02 3.28019957e-04 9.99926861e-01 -3.80565338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47862385300002 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:181.97, Y:-34.63, Z:-3.79 [[ 9.77617912e-01 2.10100858e-01 1.09930417e-02 1.81968840e+02] [-2.10084085e-01 9.77679670e-01 -2.67197299e-03 -3.46339860e+01] [-1.13090572e-02 3.02705552e-04 9.99936005e-01 -3.79494958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:181.99, Y:-34.65, Z:-3.81 [[ 9.77582281e-01 2.10158226e-01 1.28997542e-02 1.81993918e+02] [-2.10135154e-01 9.77667324e-01 -3.13395044e-03 -3.46453064e+01] [-1.32702936e-02 3.53002582e-04 9.99911883e-01 -3.80538483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:182.02, Y:-34.65, Z:-3.81 [[ 9.77476040e-01 2.10636311e-01 1.31504885e-02 1.82019975e+02] [-2.10612392e-01 9.77564433e-01 -3.19367894e-03 -3.46530096e+01] [-1.35281546e-02 3.52088795e-04 9.99908428e-01 -3.80549441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56862385300002 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:182.05, Y:-34.66, Z:-3.81 [[ 9.77338090e-01 2.11273501e-01 1.31820043e-02 1.82046545e+02] [-2.11249542e-01 9.77426923e-01 -3.20012855e-03 -3.46609804e+01] [-1.35605482e-02 3.42915170e-04 9.99907993e-01 -3.80599734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:182.07, Y:-34.67, Z:-3.81 [[ 9.77211610e-01 2.11841013e-01 1.34482033e-02 1.82073294e+02] [-2.11816144e-01 9.77304082e-01 -3.26374313e-03 -3.46690649e+01] [-1.38343786e-02 3.40821126e-04 9.99904242e-01 -3.80625882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:182.10, Y:-34.68, Z:-3.81 [[ 9.76889546e-01 2.13292704e-01 1.38937798e-02 1.82099246e+02] [-2.13266322e-01 9.76988287e-01 -3.37083027e-03 -3.46798738e+01] [-1.42930337e-02 3.29853529e-04 9.99897795e-01 -3.80677631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65862385300002 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:182.13, Y:-34.69, Z:-3.81 [[ 9.76643645e-01 2.14418969e-01 1.38454691e-02 1.82125373e+02] [-2.14392899e-01 9.76741731e-01 -3.35799357e-03 -3.46888667e+01] [-1.42434649e-02 3.11192830e-04 9.99898508e-01 -3.80697600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68862385300002 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:182.15, Y:-34.70, Z:-3.81 [[ 9.76365303e-01 2.15690675e-01 1.37232297e-02 1.82152440e+02] [-2.15665200e-01 9.76461699e-01 -3.32753736e-03 -3.46979080e+01] [-1.41179270e-02 2.89268947e-04 9.99900295e-01 -3.80750006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71862385300003 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:182.18, Y:-34.71, Z:-3.81 [[ 9.75723988e-01 2.18560571e-01 1.39275552e-02 1.82179812e+02] [-2.18534640e-01 9.75823352e-01 -3.37594460e-03 -3.47089704e+01] [-1.43286819e-02 2.50336882e-04 9.99897308e-01 -3.80809732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74862385300003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:182.21, Y:-34.72, Z:-3.81 [[ 9.75291299e-01 2.20510470e-01 1.34912596e-02 1.82206432e+02] [-2.20486333e-01 9.75384584e-01 -3.26960040e-03 -3.47178845e+01] [-1.38801478e-02 2.14174469e-04 9.99903643e-01 -3.80821852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77862385300003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:182.23, Y:-34.73, Z:-3.81 [[ 9.74779843e-01 2.22773182e-01 1.32803428e-02 1.82233972e+02] [-2.22750016e-01 9.74870288e-01 -3.21759301e-03 -3.47268152e+01] [-1.36634050e-02 1.78248240e-04 9.99906635e-01 -3.80858540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:182.26, Y:-34.73, Z:-3.81 [[ 9.74206674e-01 2.25278406e-01 1.30765550e-02 1.82259765e+02] [-2.25256175e-01 9.74294422e-01 -3.16789704e-03 -3.47347808e+01] [-1.34540734e-02 1.40611670e-04 9.99909480e-01 -3.80883986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.838623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:182.29, Y:-34.74, Z:-3.81 [[ 9.73003413e-01 2.30407668e-01 1.32915308e-02 1.82286322e+02] [-2.30385201e-01 9.73094190e-01 -3.21829990e-03 -3.47437730e+01] [-1.36754324e-02 6.92447820e-05 9.99906485e-01 -3.80871496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:182.31, Y:-34.75, Z:-3.81 [[ 9.72365451e-01 2.33072465e-01 1.35149825e-02 1.82312990e+02] [-2.33049508e-01 9.72459369e-01 -3.27133403e-03 -3.47512988e+01] [-1.39052293e-02 3.12721601e-05 9.99903317e-01 -3.80965019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.898623853 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:182.34, Y:-34.76, Z:-3.81 [[ 9.71730564e-01 2.35705456e-01 1.35147450e-02 1.82339112e+02] [-2.35682768e-01 9.71824541e-01 -3.27028798e-03 -3.47587393e+01] [-1.39047856e-02 -7.35373380e-06 9.99903324e-01 -3.81052138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:182.36, Y:-34.77, Z:-3.81 [[ 9.70467843e-01 2.40879819e-01 1.30030016e-02 1.82364833e+02] [-2.40859296e-01 9.70554948e-01 -3.14533908e-03 -3.47672281e+01] [-1.33777762e-02 -7.94433736e-05 9.99910510e-01 -3.81163516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.958623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:182.39, Y:-34.77, Z:-3.81 [[ 9.69926851e-01 2.43060496e-01 1.27867112e-02 1.82391751e+02] [-2.43040855e-01 9.70011126e-01 -3.09181881e-03 -3.47738812e+01] [-1.31547511e-02 -1.08855138e-04 9.99913467e-01 -3.81217905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.988623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:182.42, Y:-34.78, Z:-3.81 [[ 9.69367024e-01 2.45293991e-01 1.25869407e-02 1.82418499e+02] [-2.45275159e-01 9.69448729e-01 -3.04259198e-03 -3.47802282e+01] [-1.29487232e-02 -1.37875555e-04 9.99916152e-01 -3.81291846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.018623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:182.45, Y:-34.79, Z:-3.81 [[ 9.68943068e-01 2.46976507e-01 1.23262377e-02 1.82446032e+02] [-2.46958594e-01 9.69021455e-01 -2.97869092e-03 -3.47868493e+01] [-1.26800555e-02 -1.57888423e-04 9.99919592e-01 -3.81351160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.048623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:182.47, Y:-34.79, Z:-3.81 [[ 9.68561338e-01 2.48468759e-01 1.23373417e-02 1.82472828e+02] [-2.48450946e-01 9.68639894e-01 -2.98045883e-03 -3.47936802e+01] [-1.26909923e-02 -1.78467035e-04 9.99919450e-01 -3.81432729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.078623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:182.50, Y:-34.80, Z:-3.82 [[ 9.67896985e-01 2.51055083e-01 1.21149226e-02 1.82499401e+02] [-2.51038120e-01 9.67972779e-01 -2.92591723e-03 -3.48006257e+01] [-1.24614817e-02 -2.09320936e-04 9.99922331e-01 -3.81511291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.108623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:182.53, Y:-34.81, Z:-3.81 [[ 9.67738649e-01 2.51677935e-01 1.18373804e-02 1.82525627e+02] [-2.51661799e-01 9.67811021e-01 -2.85787854e-03 -3.48067441e+01] [-1.21756121e-02 -2.13336919e-04 9.99925852e-01 -3.81498103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.138623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:182.55, Y:-34.81, Z:-3.82 [[ 9.67416803e-01 2.52893129e-01 1.22390858e-02 1.82551474e+02] [-2.52875991e-01 9.67494191e-01 -2.95373940e-03 -3.48127290e+01] [-1.25882248e-02 -2.37473826e-04 9.99920737e-01 -3.81588673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.168623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:182.58, Y:-34.82, Z:-3.82 [[ 9.67385860e-01 2.52989447e-01 1.26861071e-02 1.82578429e+02] [-2.52971058e-01 9.67469006e-01 -3.06039087e-03 -3.48183941e+01] [-1.30476620e-02 -2.48639080e-04 9.99914845e-01 -3.81602323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:182.61, Y:-34.82, Z:-3.82 [[ 9.67404279e-01 2.52900409e-01 1.30515698e-02 1.82605582e+02] [-2.52880950e-01 9.67492283e-01 -3.14755870e-03 -3.48242637e+01] [-1.34233119e-02 -2.55531616e-04 9.99909871e-01 -3.81667374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:182.63, Y:-34.83, Z:-3.82 [[ 9.67436597e-01 2.52771858e-01 1.31460542e-02 1.82632334e+02] [-2.52752118e-01 9.67525877e-01 -3.16937068e-03 -3.48307499e+01] [-1.35202753e-02 -2.56527844e-04 9.99908564e-01 -3.81740798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25862385300002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:182.66, Y:-34.84, Z:-3.82 [[ 9.67696322e-01 2.51755647e-01 1.35248906e-02 1.82659545e+02] [-2.51734668e-01 9.67790800e-01 -3.25966981e-03 -3.48372417e+01] [-1.39099050e-02 -2.50313358e-04 9.99903221e-01 -3.81837821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:182.69, Y:-34.84, Z:-3.82 [[ 9.67869485e-01 2.51087793e-01 1.35491798e-02 1.82685508e+02] [-2.51066687e-01 9.67964287e-01 -3.26458332e-03 -3.48433556e+01] [-1.39348192e-02 -2.42057107e-04 9.99902876e-01 -3.81832220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:182.71, Y:-34.85, Z:-3.82 [[ 9.68035500e-01 2.50429224e-01 1.38735367e-02 1.82711910e+02] [-2.50407045e-01 9.68134880e-01 -3.34150590e-03 -3.48492704e+01] [-1.42682656e-02 -2.39335000e-04 9.99898174e-01 -3.81890818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:182.74, Y:-34.86, Z:-3.82 [[ 9.68279371e-01 2.49484324e-01 1.38791560e-02 1.82738018e+02] [-2.49462044e-01 9.68378811e-01 -3.34183179e-03 -3.48550890e+01] [-1.42740152e-02 -2.26495844e-04 9.99898095e-01 -3.81956994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:182.77, Y:-34.86, Z:-3.82 [[ 9.68678146e-01 2.47921873e-01 1.40496862e-02 1.82765753e+02] [-2.47898905e-01 9.68780007e-01 -3.38103799e-03 -3.48612410e+01] [-1.44492884e-02 -2.07764218e-04 9.99895582e-01 -3.81991260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:182.79, Y:-34.87, Z:-3.82 [[ 9.68852479e-01 2.47254062e-01 1.37950268e-02 1.82792260e+02] [-2.47231864e-01 9.68950665e-01 -3.31884705e-03 -3.48671041e+01] [-1.41872988e-02 -1.95096997e-04 9.99899336e-01 -3.82067202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:182.82, Y:-34.87, Z:-3.82 [[ 9.69094119e-01 2.46337446e-01 1.32080153e-02 1.82819814e+02] [-2.46317027e-01 9.69184106e-01 -3.17652734e-03 -3.48727956e+01] [-1.35834961e-02 -1.75005106e-04 9.99907725e-01 -3.82148800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:182.85, Y:-34.88, Z:-3.82 [[ 9.69441586e-01 2.44985479e-01 1.28501604e-02 1.82846872e+02] [-2.44966044e-01 9.69526736e-01 -3.08957714e-03 -3.48779448e+01] [-1.32154756e-02 -1.52688401e-04 9.99912660e-01 -3.82255299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:182.87, Y:-34.88, Z:-3.82 [[ 9.69607102e-01 2.44322340e-01 1.29869910e-02 1.82873601e+02] [-2.44302442e-01 9.69694061e-01 -3.12154032e-03 -3.48838756e+01] [-1.33560700e-02 -1.46085942e-04 9.99910793e-01 -3.82316139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:182.90, Y:-34.89, Z:-3.82 [[ 9.69795199e-01 2.43572928e-01 1.30192332e-02 1.82899707e+02] [-2.43552876e-01 9.69882575e-01 -3.12830181e-03 -3.48896316e+01] [-1.33890971e-02 -1.37059622e-04 9.99910353e-01 -3.82403293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.558623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:182.93, Y:-34.90, Z:-3.82 [[ 9.69967005e-01 2.42870960e-01 1.33306133e-02 1.82926787e+02] [-2.42849897e-01 9.70058596e-01 -3.20127305e-03 -3.48951368e+01] [-1.37089723e-02 -1.32208839e-04 9.99906019e-01 -3.82435286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:182.95, Y:-34.90, Z:-3.83 [[ 9.70264960e-01 2.41679442e-01 1.33024346e-02 1.82953187e+02] [-2.41658369e-01 9.70356138e-01 -3.19356251e-03 -3.48999629e+01] [-1.36799174e-02 -1.16042842e-04 9.99906419e-01 -3.82579712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.618623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:182.98, Y:-34.91, Z:-3.83 [[ 9.70446866e-01 2.40968555e-01 1.29242239e-02 1.82980311e+02] [-2.40948616e-01 9.70532918e-01 -3.10159043e-03 -3.49055923e+01] [-1.32907705e-02 -1.04145138e-04 9.99911668e-01 -3.82619515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:183.01, Y:-34.91, Z:-3.83 [[ 9.70665462e-01 2.40092782e-01 1.28068837e-02 1.83006455e+02] [-2.40073138e-01 9.70749941e-01 -3.07255314e-03 -3.49108757e+01] [-1.31699794e-02 -9.21675562e-05 9.99913268e-01 -3.82693486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.678623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:183.03, Y:-34.92, Z:-3.83 [[ 9.70892874e-01 2.39184945e-01 1.25534744e-02 1.83034190e+02] [-2.39166011e-01 9.70974024e-01 -3.01060292e-03 -3.49166846e+01] [-1.29091884e-02 -7.93914677e-05 9.99916670e-01 -3.82784200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.06, Y:-34.92, Z:-3.83 [[ 9.71458796e-01 2.36894941e-01 1.21898999e-02 1.83061927e+02] [-2.36876918e-01 9.71535272e-01 -2.92257055e-03 -3.49220317e+01] [-1.25352599e-02 -4.83490431e-05 9.99921429e-01 -3.82848731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.738623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:183.09, Y:-34.93, Z:-3.83 [[ 9.71726157e-01 2.35788989e-01 1.23218750e-02 1.83088350e+02] [-2.35770495e-01 9.71804276e-01 -2.95336932e-03 -3.49275193e+01] [-1.26708228e-02 -3.52683436e-05 9.99919721e-01 -3.82926048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.768623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:183.12, Y:-34.93, Z:-3.83 [[ 9.71996193e-01 2.34639705e-01 1.29464392e-02 1.83115700e+02] [-2.34619203e-01 9.72082408e-01 -3.10181553e-03 -3.49333179e+01] [-1.33128149e-02 -2.25303614e-05 9.99911380e-01 -3.82969480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.798623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.14, Y:-34.94, Z:-3.83 [[ 9.72253725e-01 2.33561035e-01 1.31124582e-02 1.83142397e+02] [-2.33539918e-01 9.72342143e-01 -3.14067189e-03 -3.49391126e+01] [-1.34833342e-02 -8.75246232e-06 9.99909096e-01 -3.82998218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.828623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:183.17, Y:-34.94, Z:-3.83 [[ 9.72493568e-01 2.32565001e-01 1.30299759e-02 1.83169744e+02] [-2.32544075e-01 9.72580855e-01 -3.11973278e-03 -3.49449553e+01] [-1.33982458e-02 3.87635143e-06 9.99910239e-01 -3.83010318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.858623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:183.20, Y:-34.95, Z:-3.83 [[ 9.73017587e-01 2.30345951e-01 1.33236322e-02 1.83195856e+02] [-2.30323876e-01 9.73108803e-01 -3.18910563e-03 -3.49496649e+01] [-1.36999413e-02 3.43052650e-05 9.99906151e-01 -3.83080797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.888623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:183.22, Y:-34.96, Z:-3.83 [[ 9.73250330e-01 2.29345324e-01 1.35837203e-02 1.83223100e+02] [-2.29322299e-01 9.73345119e-01 -3.25011336e-03 -3.49555099e+01] [-1.39670462e-02 4.81239271e-05 9.99902455e-01 -3.83148618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.918623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:183.25, Y:-34.96, Z:-3.83 [[ 9.73485666e-01 2.28323558e-01 1.39288066e-02 1.83250461e+02] [-2.28299258e-01 9.73585306e-01 -3.33165404e-03 -3.49613205e+01] [-1.43215765e-02 6.33812439e-05 9.99897439e-01 -3.83236508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.28, Y:-34.97, Z:-3.83 [[ 9.73717480e-01 2.27342691e-01 1.37684085e-02 1.83277310e+02] [-2.27318865e-01 9.73814816e-01 -3.29220828e-03 -3.49678273e+01] [-1.41563397e-02 7.58617666e-05 9.99899791e-01 -3.83240197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.30, Y:-34.97, Z:-3.83 [[ 9.74254346e-01 2.25004489e-01 1.41933168e-02 1.83303774e+02] [-2.24978931e-01 9.74357721e-01 -3.39308747e-03 -3.49732029e+01] [-1.45928277e-02 1.12532981e-04 9.99893513e-01 -3.83348404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.33, Y:-34.98, Z:-3.83 [[ 9.74551561e-01 2.23705164e-01 1.43267072e-02 1.83330719e+02] [-2.23679008e-01 9.74656854e-01 -3.42332926e-03 -3.49792227e+01] [-1.47294398e-02 1.31627233e-04 9.99891507e-01 -3.83470842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.36, Y:-34.99, Z:-3.84 [[ 9.75103291e-01 2.21339110e-01 1.35118575e-02 1.83357851e+02] [-2.21315632e-01 9.75196890e-01 -3.22758806e-03 -3.49867323e+01] [-1.38911129e-02 1.56846455e-04 9.99903502e-01 -3.83550856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:183.38, Y:-34.99, Z:-3.84 [[ 9.75424010e-01 2.19932372e-01 1.33323538e-02 1.83384421e+02] [-2.19909394e-01 9.75515106e-01 -3.18385960e-03 -3.49937882e+01] [-1.37061463e-02 1.73703262e-04 9.99906051e-01 -3.83613684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:183.41, Y:-35.00, Z:-3.84 [[ 9.75724746e-01 2.18609814e-01 1.30754877e-02 1.83411020e+02] [-2.18587605e-01 9.75812335e-01 -3.12171679e-03 -3.50003918e+01] [-1.34416601e-02 1.87796791e-04 9.99909639e-01 -3.83718633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.44, Y:-35.01, Z:-3.84 [[ 9.75975593e-01 2.17480906e-01 1.31794328e-02 1.83438197e+02] [-2.17458250e-01 9.76064554e-01 -3.14577648e-03 -3.50078235e+01] [-1.35481235e-02 2.04224685e-04 9.99908199e-01 -3.83778659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15862385300002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:183.46, Y:-35.02, Z:-3.84 [[ 9.76394274e-01 2.15574420e-01 1.34866977e-02 1.83464439e+02] [-2.15550528e-01 9.76487386e-01 -3.21802401e-03 -3.50162257e+01] [-1.38633139e-02 2.34995398e-04 9.99903872e-01 -3.83789206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18862385300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:183.49, Y:-35.02, Z:-3.84 [[ 9.76569253e-01 2.14754699e-01 1.38893244e-02 1.83492306e+02] [-2.14729289e-01 9.76667986e-01 -3.31315855e-03 -3.50233730e+01] [-1.42767748e-02 2.53084029e-04 9.99898050e-01 -3.83827807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.52, Y:-35.03, Z:-3.84 [[ 9.76633705e-01 2.14444513e-01 1.41477037e-02 1.83519445e+02] [-2.14418127e-01 9.76736137e-01 -3.37413444e-03 -3.50309009e+01] [-1.45421381e-02 2.61769285e-04 9.99894223e-01 -3.83927202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:183.55, Y:-35.04, Z:-3.84 [[ 9.76699914e-01 2.14153577e-01 1.39829772e-02 1.83545817e+02] [-2.14127785e-01 9.76799968e-01 -3.33390611e-03 -3.50387172e+01] [-1.43725396e-02 2.62081867e-04 9.99896675e-01 -3.83975554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27862385300003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:183.57, Y:-35.05, Z:-3.84 [[ 9.76786511e-01 2.13774642e-01 1.37300288e-02 1.83572261e+02] [-2.13749751e-01 9.76882968e-01 -3.27266761e-03 -3.50476923e+01] [-1.41122446e-02 2.61907353e-04 9.99900383e-01 -3.84045831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:183.60, Y:-35.05, Z:-3.84 [[ 9.76793931e-01 2.13740725e-01 1.37302469e-02 1.83600808e+02] [-2.13715843e-01 9.76890390e-01 -3.27175241e-03 -3.50544090e+01] [-1.41122529e-02 2.61456615e-04 9.99900383e-01 -3.84102419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.338623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.63, Y:-35.06, Z:-3.84 [[ 9.76787521e-01 2.13806772e-01 1.31454665e-02 1.83628640e+02] [-2.13783975e-01 9.76875940e-01 -3.13202373e-03 -3.50624071e+01] [-1.35111378e-02 2.49031616e-04 9.99908689e-01 -3.84200895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:183.66, Y:-35.07, Z:-3.84 [[ 9.76765358e-01 2.13920867e-01 1.29343960e-02 1.83655958e+02] [-2.13898815e-01 9.76850963e-01 -3.08111736e-03 -3.50708221e+01] [-1.32940925e-02 2.42876715e-04 9.99911600e-01 -3.84311420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.398623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.68, Y:-35.08, Z:-3.84 [[ 9.76696734e-01 2.14243422e-01 1.27767866e-02 1.83682294e+02] [-2.14221939e-01 9.76780273e-01 -3.04301863e-03 -3.50803343e+01] [-1.31320598e-02 2.35038360e-04 9.99913743e-01 -3.84313026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:183.71, Y:-35.09, Z:-3.84 [[ 9.76642845e-01 2.14481660e-01 1.28984565e-02 1.83709355e+02] [-2.14459797e-01 9.76727988e-01 -3.07120650e-03 -3.50884671e+01] [-1.32570009e-02 2.33271486e-04 9.99912095e-01 -3.84383293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.74, Y:-35.10, Z:-3.84 [[ 9.76593531e-01 2.14707125e-01 1.28812372e-02 1.83737403e+02] [-2.14685352e-01 9.76678452e-01 -3.06617447e-03 -3.50971552e+01] [-1.32391563e-02 2.28993210e-04 9.99912332e-01 -3.84423652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.488623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.77, Y:-35.11, Z:-3.84 [[ 9.76465185e-01 2.15288775e-01 1.29029096e-02 1.83765206e+02] [-2.15266989e-01 9.76550406e-01 -3.07068113e-03 -3.51060002e+01] [-1.32614247e-02 2.20842732e-04 9.99912039e-01 -3.84465483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.518623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:183.79, Y:-35.11, Z:-3.85 [[ 9.76299748e-01 2.16020383e-01 1.31907639e-02 1.83792656e+02] [-2.15997690e-01 9.76388830e-01 -3.13850473e-03 -3.51140887e+01] [-1.35572955e-02 2.14946853e-04 9.99908073e-01 -3.84525698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.548623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.82, Y:-35.12, Z:-3.85 [[ 9.75813106e-01 2.18174086e-01 1.37422955e-02 1.83818629e+02] [-2.18149677e-01 9.75909848e-01 -3.26908801e-03 -3.51233136e+01] [-1.41244718e-02 1.92141606e-04 9.99900226e-01 -3.84515910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.578623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.85, Y:-35.13, Z:-3.85 [[ 9.75529526e-01 2.19420923e-01 1.40215323e-02 1.83846574e+02] [-2.19395656e-01 9.75630272e-01 -3.33446328e-03 -3.51312322e+01] [-1.44114824e-02 1.76604098e-04 9.99896134e-01 -3.84586064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.608623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:183.87, Y:-35.14, Z:-3.85 [[ 9.75223790e-01 2.20783041e-01 1.39071514e-02 1.83873204e+02] [-2.20758332e-01 9.75322934e-01 -3.30663973e-03 -3.51391186e+01] [-1.42940137e-02 1.54594181e-04 9.99897823e-01 -3.84624364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.90, Y:-35.15, Z:-3.85 [[ 9.74668880e-01 2.23198281e-01 1.42513795e-02 1.83900508e+02] [-2.23172606e-01 9.74773057e-01 -3.38751874e-03 -3.51491459e+01] [-1.46479491e-02 1.21191581e-04 9.99892706e-01 -3.84641443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.668623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:183.93, Y:-35.16, Z:-3.85 [[ 9.74446371e-01 2.24153705e-01 1.44701865e-02 1.83928256e+02] [-2.24127351e-01 9.74553798e-01 -3.43881296e-03 -3.51573038e+01] [-1.48727979e-02 1.07774223e-04 9.99889388e-01 -3.84688126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:183.96, Y:-35.16, Z:-3.85 [[ 9.74278748e-01 2.24868670e-01 1.46629895e-02 1.83955385e+02] [-2.24841702e-01 9.74389076e-01 -3.48386222e-03 -3.51646926e+01] [-1.50708683e-02 9.74013913e-05 9.99886423e-01 -3.84762683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:183.98, Y:-35.17, Z:-3.84 [[ 9.74058803e-01 2.25902742e-01 1.33191044e-02 1.83982682e+02] [-2.25880595e-01 9.74149858e-01 -3.16404940e-03 -3.51724466e+01] [-1.36895711e-02 7.34429522e-05 9.99906291e-01 -3.84097291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75862385300002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:184.01, Y:-35.18, Z:-3.85 [[ 9.73984964e-01 2.26199550e-01 1.36767516e-02 1.84011107e+02] [-2.26176242e-01 9.74080982e-01 -3.24787564e-03 -3.51813486e+01] [-1.40569316e-02 7.00257566e-05 9.99901194e-01 -3.84928232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:184.04, Y:-35.19, Z:-3.85 [[ 9.73866678e-01 2.26734430e-01 1.32359819e-02 1.84038326e+02] [-2.26712654e-01 9.73956618e-01 -3.14295306e-03 -3.51891163e+01] [-1.36038878e-02 6.00526764e-05 9.99907461e-01 -3.84957835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.07, Y:-35.20, Z:-3.85 [[ 9.73727911e-01 2.27326426e-01 1.32909955e-02 1.84066667e+02] [-2.27304529e-01 9.73818614e-01 -3.15557994e-03 -3.51966757e+01] [-1.36603656e-02 5.15727806e-05 9.99906692e-01 -3.85039940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.09, Y:-35.20, Z:-3.85 [[ 9.73598133e-01 2.27876257e-01 1.33823086e-02 1.84093402e+02] [-2.27854118e-01 9.73690099e-01 -3.17664588e-03 -3.52041329e+01] [-1.37541036e-02 4.35623697e-05 9.99905407e-01 -3.85134093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87862385300002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:184.12, Y:-35.21, Z:-3.85 [[ 9.73332694e-01 2.28991244e-01 1.36556334e-02 1.84121723e+02] [-2.28968316e-01 9.73428482e-01 -3.24045761e-03 -3.52127023e+01] [-1.40348189e-02 2.73359488e-05 9.99901507e-01 -3.85130129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.15, Y:-35.22, Z:-3.85 [[ 9.73213420e-01 2.29471454e-01 1.40886640e-02 1.84149064e+02] [-2.29447105e-01 9.73315392e-01 -3.34285543e-03 -3.52199677e+01] [-1.44798034e-02 2.07086117e-05 9.99895162e-01 -3.85193297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:184.18, Y:-35.23, Z:-3.85 [[ 9.73113614e-01 2.29905842e-01 1.38995518e-02 1.84177547e+02] [-2.29882193e-01 9.73212877e-01 -3.29754905e-03 -3.52278711e+01] [-1.42853486e-02 1.36304371e-05 9.99897959e-01 -3.85216530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:184.21, Y:-35.24, Z:-3.85 [[ 9.73022128e-01 2.30267018e-01 1.43191623e-02 1.84205587e+02] [-2.30241964e-01 9.73127484e-01 -3.39672183e-03 -3.52363306e+01] [-1.47165233e-02 8.21346524e-06 9.99891706e-01 -3.85321484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99862385300003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:184.23, Y:-35.24, Z:-3.85 [[ 9.72985575e-01 2.30426857e-01 1.42314629e-02 1.84234039e+02] [-2.30402131e-01 9.73089648e-01 -3.37555540e-03 -3.52437588e+01] [-1.46263079e-02 5.40731820e-06 9.99893030e-01 -3.85334458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:184.26, Y:-35.25, Z:-3.85 [[ 9.72966436e-01 2.30502879e-01 1.43086373e-02 1.84261829e+02] [-2.30477897e-01 9.73071643e-01 -3.39354804e-03 -3.52509208e+01] [-1.47055518e-02 3.98370681e-06 9.99891868e-01 -3.85429365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.058623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.29, Y:-35.26, Z:-3.86 [[ 9.72973891e-01 2.30492092e-01 1.39715126e-02 1.84289810e+02] [-2.30468280e-01 9.73074198e-01 -3.31302974e-03 -3.52583197e+01] [-1.43589455e-02 3.50096338e-06 9.99896905e-01 -3.85500995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.32, Y:-35.27, Z:-3.86 [[ 9.73117171e-01 2.29879562e-01 1.40839647e-02 1.84318643e+02] [-2.29855307e-01 9.73219085e-01 -3.33927846e-03 -3.52667405e+01] [-1.44744151e-02 1.22351645e-05 9.99895240e-01 -3.85595698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.118623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.35, Y:-35.27, Z:-3.86 [[ 9.73224477e-01 2.29416678e-01 1.42163805e-02 1.84347719e+02] [-2.29391921e-01 9.73328304e-01 -3.37031101e-03 -3.52745270e+01] [-1.46104111e-02 1.89463277e-05 9.99893262e-01 -3.85681505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:184.38, Y:-35.28, Z:-3.86 [[ 9.73324215e-01 2.29030174e-01 1.36070155e-02 1.84375811e+02] [-2.29007461e-01 9.73419323e-01 -3.22552557e-03 -3.52825510e+01] [-1.39840745e-02 2.33740614e-05 9.99902218e-01 -3.85691773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.178623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.40, Y:-35.29, Z:-3.86 [[ 9.73411777e-01 2.28664294e-01 1.34963914e-02 1.84404793e+02] [-2.28641918e-01 9.73505336e-01 -3.19896670e-03 -3.52903333e+01] [-1.38702985e-02 2.80710461e-05 9.99903802e-01 -3.85752090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.43, Y:-35.30, Z:-3.86 [[ 9.73477979e-01 2.28351632e-01 1.40056102e-02 1.84433463e+02] [-2.28327509e-01 9.73578724e-01 -3.31929361e-03 -3.52984251e+01] [-1.43935302e-02 3.33931388e-05 9.99896407e-01 -3.85757017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.238623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.46, Y:-35.31, Z:-3.86 [[ 9.73425747e-01 2.28575847e-01 1.39784469e-02 1.84463281e+02] [-2.28551847e-01 9.73526107e-01 -3.31238950e-03 -3.53060789e+01] [-1.43655152e-02 2.95653587e-05 9.99896810e-01 -3.85783604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.268623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.49, Y:-35.31, Z:-3.86 [[ 9.73305501e-01 2.29077323e-01 1.41414810e-02 1.84491443e+02] [-2.29052812e-01 9.73408229e-01 -3.35108160e-03 -3.53133263e+01] [-1.45330908e-02 2.24801619e-05 9.99894389e-01 -3.85829761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.298623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:184.52, Y:-35.32, Z:-3.85 [[ 9.73214307e-01 2.29468383e-01 1.40774155e-02 1.84520874e+02] [-2.29444137e-01 9.73316116e-01 -3.33577694e-03 -3.53195499e+01] [-1.44672307e-02 1.64454084e-05 9.99895344e-01 -3.85045320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:184.55, Y:-35.33, Z:-3.86 [[ 9.72940944e-01 2.30582593e-01 1.47508124e-02 1.84549716e+02] [-2.30556105e-01 9.73052757e-01 -3.49496321e-03 -3.53277723e+01] [-1.51591964e-02 -4.97044669e-07 9.99885093e-01 -3.85940775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.358623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.58, Y:-35.33, Z:-3.86 [[ 9.72871243e-01 2.30882318e-01 1.46594432e-02 1.84578418e+02] [-2.30856196e-01 9.72981683e-01 -3.47296296e-03 -3.53344262e+01] [-1.50652154e-02 -5.47749545e-06 9.99886513e-01 -3.86046596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.61, Y:-35.34, Z:-3.86 [[ 9.72862576e-01 2.30919716e-01 1.46456003e-02 1.84609162e+02] [-2.30893656e-01 9.72972808e-01 -3.46912088e-03 -3.53417915e+01] [-1.50508592e-02 -6.59831577e-06 9.99886729e-01 -3.86066865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.418623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:184.64, Y:-35.35, Z:-3.85 [[ 9.72792141e-01 2.31237583e-01 1.43048821e-02 1.84639344e+02] [-2.31212754e-01 9.72897312e-01 -3.38862132e-03 -3.53482820e+01] [-1.47007580e-02 -1.10469930e-05 9.99891938e-01 -3.85417540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:184.67, Y:-35.36, Z:-3.86 [[ 9.72894121e-01 2.30832581e-01 1.39049936e-02 1.84667043e+02] [-2.30809060e-01 9.72993484e-01 -3.29521413e-03 -3.53557197e+01] [-1.42901110e-02 -3.50404671e-06 9.99897891e-01 -3.86202191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:184.70, Y:-35.36, Z:-3.86 [[ 9.72996300e-01 2.30419127e-01 1.36097766e-02 1.84695238e+02] [-2.30396564e-01 9.73091479e-01 -3.22450560e-03 -3.53628387e+01] [-1.39865454e-02 1.78624336e-06 9.99902183e-01 -3.86299760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.72, Y:-35.37, Z:-3.86 [[ 9.73116055e-01 2.29920873e-01 1.34734879e-02 1.84723452e+02] [-2.29898715e-01 9.73209326e-01 -3.19197688e-03 -3.53699969e+01] [-1.38464261e-02 8.62640776e-06 9.99904134e-01 -3.86401397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:-35.38, Z:-3.86 [[ 9.73242892e-01 2.29398642e-01 1.32112091e-02 1.84751501e+02] [-2.29377301e-01 9.73332555e-01 -3.12910351e-03 -3.53783882e+01] [-1.35767120e-02 1.50262670e-05 9.99907832e-01 -3.86467874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.78, Y:-35.39, Z:-3.86 [[ 9.73218357e-01 2.29500707e-01 1.32459154e-02 1.84778929e+02] [-2.29479266e-01 9.73308494e-01 -3.13706677e-03 -3.53851145e+01] [-1.36123210e-02 1.33880157e-05 9.99907348e-01 -3.86496858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.81, Y:-35.39, Z:-3.86 [[ 9.73128533e-01 2.29867768e-01 1.34783759e-02 1.84806930e+02] [-2.29845610e-01 9.73221870e-01 -3.19167087e-03 -3.53909447e+01] [-1.38511125e-02 7.96046896e-06 9.99904069e-01 -3.85972294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.83, Y:-35.40, Z:-3.87 [[ 9.72997632e-01 2.30402912e-01 1.37878758e-02 1.84834708e+02] [-2.30379787e-01 9.73095318e-01 -3.26430380e-03 -3.53977485e+01] [-1.41690225e-02 -2.88028667e-07 9.99899614e-01 -3.86522832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:-35.40, Z:-3.87 [[ 9.72708129e-01 2.31607707e-01 1.40273346e-02 1.84863156e+02] [-2.31583906e-01 9.72809267e-01 -3.32033261e-03 -3.54040294e+01] [-1.44149357e-02 -1.87904210e-05 9.99896099e-01 -3.86547380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:-35.41, Z:-3.87 [[ 9.72511146e-01 2.32409267e-01 1.44223430e-02 1.84889759e+02] [-2.32384205e-01 9.72618081e-01 -3.41319642e-03 -3.54104426e+01] [-1.48206900e-02 -3.21531367e-05 9.99890167e-01 -3.86635236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.92, Y:-35.42, Z:-3.87 [[ 9.72417972e-01 2.32779630e-01 1.47286124e-02 1.84918908e+02] [-2.32753549e-01 9.72529507e-01 -3.48468157e-03 -3.54174735e+01] [-1.51351730e-02 -3.95698205e-05 9.99885456e-01 -3.86694074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:-35.42, Z:-3.87 [[ 9.72323950e-01 2.33159306e-01 1.49289459e-02 1.84946650e+02] [-2.33132561e-01 9.72438551e-01 -3.53175496e-03 -3.54242767e+01] [-1.53409441e-02 -4.64134450e-05 9.99882320e-01 -3.86742699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:-35.43, Z:-3.87 [[ 9.72254640e-01 2.33439035e-01 1.50708754e-02 1.84976063e+02] [-2.33411822e-01 9.72371438e-01 -3.56473146e-03 -3.54303723e+01] [-1.54866363e-02 -5.18937850e-05 9.99880074e-01 -3.86819056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.01, Y:-35.44, Z:-3.87 [[ 9.72250870e-01 2.33485285e-01 1.45899894e-02 1.85005461e+02] [-2.33459791e-01 9.72360334e-01 -3.45064963e-03 -3.54365820e+01] [-1.49924029e-02 -5.12787716e-05 9.99887606e-01 -3.86911318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.03, Y:-35.44, Z:-3.87 [[ 9.72152071e-01 2.33932410e-01 1.39992690e-02 1.85033924e+02] [-2.33908988e-01 9.72252860e-01 -3.31067704e-03 -3.54426812e+01] [-1.43853040e-02 -5.60733191e-05 9.99896525e-01 -3.87014257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:-35.45, Z:-3.87 [[ 9.72162497e-01 2.33900818e-01 1.38016965e-02 1.85061979e+02] [-2.33878056e-01 9.72260461e-01 -3.26352099e-03 -3.54489464e+01] [-1.41821840e-02 -5.52412368e-05 9.99899426e-01 -3.87064426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.09, Y:-35.45, Z:-3.87 [[ 9.72119446e-01 2.34072033e-01 1.39307456e-02 1.85088887e+02] [-2.34048870e-01 9.72219255e-01 -3.29341725e-03 -3.54544926e+01] [-1.43146360e-02 -5.88803194e-05 9.99897539e-01 -3.87170364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.12, Y:-35.46, Z:-3.87 [[ 9.72141900e-01 2.33985479e-01 1.38174145e-02 1.85116942e+02] [-2.33962693e-01 9.72240090e-01 -3.26590795e-03 -3.54598384e+01] [-1.41980193e-02 -5.78335404e-05 9.99899201e-01 -3.87185495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:-35.47, Z:-3.87 [[ 9.72145069e-01 2.33961257e-01 1.40033862e-02 1.85145700e+02] [-2.33937869e-01 9.72245919e-01 -3.30858040e-03 -3.54655616e+01] [-1.43888147e-02 -5.95022085e-05 9.99896474e-01 -3.87312307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.988623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.17, Y:-35.47, Z:-3.87 [[ 9.72121109e-01 2.34062193e-01 1.39799829e-02 1.85173186e+02] [-2.34038902e-01 9.72221624e-01 -3.30244428e-03 -3.54705350e+01] [-1.43646190e-02 -6.14840408e-05 9.99896822e-01 -3.87355926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.20, Y:-35.48, Z:-3.87 [[ 9.72116487e-01 2.34064153e-01 1.42656586e-02 1.85200299e+02] [-2.34039913e-01 9.72221152e-01 -3.36909944e-03 -3.54765881e+01] [-1.46579604e-02 -6.35763732e-05 9.99892564e-01 -3.87423592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.048623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:185.23, Y:-35.48, Z:-3.87 [[ 9.72145491e-01 2.33966100e-01 1.38927338e-02 1.85229019e+02] [-2.33943115e-01 9.72244753e-01 -3.28004593e-03 -3.54815495e+01] [-1.42745571e-02 -6.14275484e-05 9.99898111e-01 -3.86846990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.26, Y:-35.49, Z:-3.88 [[ 9.72161616e-01 2.33876241e-01 1.42722157e-02 1.85258362e+02] [-2.33851985e-01 9.72266373e-01 -3.36885552e-03 -3.54875618e+01] [-1.46642907e-02 -6.25139447e-05 9.99892472e-01 -3.87519007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.29, Y:-35.49, Z:-3.88 [[ 9.72169953e-01 2.33851200e-01 1.41137548e-02 1.85286005e+02] [-2.33827479e-01 9.72272396e-01 -3.33128003e-03 -3.54926506e+01] [-1.45014380e-02 -6.16133584e-05 9.99894847e-01 -3.87583102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.31, Y:-35.50, Z:-3.88 [[ 9.72393632e-01 2.32947343e-01 1.36440077e-02 1.85313829e+02] [-2.32925098e-01 9.72489349e-01 -3.21958898e-03 -3.54974639e+01] [-1.40186469e-02 -4.73240202e-05 9.99901733e-01 -3.87622316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.34, Y:-35.50, Z:-3.88 [[ 9.72493613e-01 2.32505239e-01 1.40529906e-02 1.85342627e+02] [-2.32481609e-01 9.72595143e-01 -3.31508538e-03 -3.55034504e+01] [-1.44386451e-02 -4.31624925e-05 9.99895756e-01 -3.87713738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.37, Y:-35.51, Z:-3.88 [[ 9.72648074e-01 2.31857125e-01 1.40711626e-02 1.85371609e+02] [-2.31833370e-01 9.72749851e-01 -3.31902266e-03 -3.55092945e+01] [-1.44572604e-02 -3.39240477e-05 9.99895488e-01 -3.87778987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.40, Y:-35.52, Z:-3.88 [[ 9.72650827e-01 2.31845571e-01 1.40712544e-02 1.85400974e+02] [-2.31821821e-01 9.72752605e-01 -3.31863335e-03 -3.55161801e+01] [-1.44572598e-02 -3.41523415e-05 9.99895488e-01 -3.87837187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.43, Y:-35.52, Z:-3.88 [[ 9.72814225e-01 2.31175690e-01 1.37943542e-02 1.85429700e+02] [-2.31152799e-01 9.72912021e-01 -3.25322295e-03 -3.55223327e+01] [-1.41727591e-02 -2.38220188e-05 9.99899561e-01 -3.87881651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.46, Y:-35.53, Z:-3.88 [[ 9.73028583e-01 2.30254398e-01 1.40814769e-02 1.85457811e+02] [-2.30230453e-01 9.73130470e-01 -3.32063027e-03 -3.55273889e+01] [-1.44677040e-02 -1.09166432e-05 9.99895337e-01 -3.87891520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:185.49, Y:-35.53, Z:-3.87 [[ 9.73165678e-01 2.29660433e-01 1.43055303e-02 1.85486916e+02] [-2.29635663e-01 9.73270818e-01 -3.37296908e-03 -3.55320378e+01] [-1.46977927e-02 -2.60220278e-06 9.99891982e-01 -3.87191534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:-35.54, Z:-3.88 [[ 9.73183470e-01 2.29569778e-01 1.45482397e-02 1.85515286e+02] [-2.29544161e-01 9.73292205e-01 -3.42945597e-03 -3.55383806e+01] [-1.49469878e-02 -1.97361741e-06 9.99888288e-01 -3.87932689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:-35.54, Z:-3.88 [[ 9.73069033e-01 2.30100999e-01 1.37908576e-02 1.85542301e+02] [-2.30078042e-01 9.73166753e-01 -3.25034058e-03 -3.55431072e+01] [-1.41687108e-02 -1.01677628e-05 9.99899619e-01 -3.88036432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:185.57, Y:-35.55, Z:-3.88 [[ 9.72978328e-01 2.30487792e-01 1.37313530e-02 1.85570772e+02] [-2.30465084e-01 9.73075217e-01 -3.23541212e-03 -3.55486576e+01] [-1.41073623e-02 -1.66115364e-05 9.99900486e-01 -3.88114449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:-35.55, Z:-3.88 [[ 9.72801485e-01 2.31241921e-01 1.35810353e-02 1.85599211e+02] [-2.31219790e-01 9.72896281e-01 -3.19932089e-03 -3.55539482e+01] [-1.39527558e-02 -2.79000058e-05 9.99902655e-01 -3.88149731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:185.63, Y:-35.56, Z:-3.88 [[ 9.72619348e-01 2.32012950e-01 1.34757139e-02 1.85626921e+02] [-2.31991242e-01 9.72712696e-01 -3.17392199e-03 -3.55581595e+01] [-1.38443890e-02 -3.92296757e-05 9.99904161e-01 -3.87550686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.65, Y:-35.56, Z:-3.88 [[ 9.72465282e-01 2.32621254e-01 1.40935545e-02 1.85654192e+02] [-2.32597589e-01 9.72567401e-01 -3.31845587e-03 -3.55636272e+01] [-1.44788750e-02 -5.10436684e-05 9.99895174e-01 -3.88199736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.68, Y:-35.57, Z:-3.88 [[ 9.72179810e-01 2.33768140e-01 1.47943501e-02 1.85682980e+02] [-2.33742213e-01 9.72292369e-01 -3.48236097e-03 -3.55671515e+01] [-1.51984987e-02 -7.25830883e-05 9.99884494e-01 -3.88210819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.558623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.71, Y:-35.57, Z:-3.88 [[ 9.72090944e-01 2.34120122e-01 1.50653589e-02 1.85711782e+02] [-2.34093289e-01 9.72207674e-01 -3.54539672e-03 -3.55719236e+01] [-1.54767063e-02 -8.02513834e-05 9.99880225e-01 -3.88224253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:-35.58, Z:-3.88 [[ 9.72091395e-01 2.34084261e-01 1.55845865e-02 1.85739232e+02] [-2.34055554e-01 9.72216309e-01 -3.66684203e-03 -3.55764513e+01] [-1.60099391e-02 -8.31534391e-05 9.99871829e-01 -3.88261671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.618623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.77, Y:-35.58, Z:-3.88 [[ 9.72243849e-01 2.33436879e-01 1.57835850e-02 1.85766959e+02] [-2.33407366e-01 9.72371955e-01 -3.71261037e-03 -3.55794964e+01] [-1.62141756e-02 -7.44424131e-05 9.99868539e-01 -3.88301940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.79, Y:-35.58, Z:-3.88 [[ 9.72361440e-01 2.32965982e-01 1.54945275e-02 1.85794888e+02] [-2.32937495e-01 9.72484883e-01 -3.64369813e-03 -3.55843603e+01] [-1.59170514e-02 -6.62648534e-05 9.99873314e-01 -3.88350181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:-35.59, Z:-3.88 [[ 9.72499826e-01 2.32390817e-01 1.54465619e-02 1.85822838e+02] [-2.32362448e-01 9.72622488e-01 -3.63153006e-03 -3.55888115e+01] [-1.58676077e-02 -5.75385672e-05 9.99874100e-01 -3.88420534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:185.85, Y:-35.59, Z:-3.89 [[ 9.72653219e-01 2.31776927e-01 1.50056944e-02 1.85850354e+02] [-2.31750098e-01 9.72768962e-01 -3.52678860e-03 -3.55930747e+01] [-1.54145020e-02 -4.72288668e-05 9.99881188e-01 -3.88519480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.88, Y:-35.60, Z:-3.89 [[ 9.73121815e-01 2.29830941e-01 1.45489076e-02 1.85879662e+02] [-2.29805517e-01 9.73230568e-01 -3.41854924e-03 -3.55955625e+01] [-1.49451300e-02 -1.67543851e-05 9.99888315e-01 -3.88588196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.91, Y:-35.60, Z:-3.89 [[ 9.73376853e-01 2.28731706e-01 1.48090705e-02 1.85906889e+02] [-2.28705248e-01 9.73489500e-01 -3.47897479e-03 -3.56001995e+01] [-1.52122265e-02 -5.58608312e-07 9.99884287e-01 -3.88683731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.93, Y:-35.60, Z:-3.89 [[ 9.73744564e-01 2.27172064e-01 1.46416537e-02 1.85934776e+02] [-2.27146036e-01 9.73854636e-01 -3.43880591e-03 -3.56048401e+01] [-1.50400430e-02 2.27249536e-05 9.99886892e-01 -3.88730388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.96, Y:-35.61, Z:-3.89 [[ 9.74508389e-01 2.23868911e-01 1.47006630e-02 1.85962799e+02] [-2.23842313e-01 9.74619262e-01 -3.45158629e-03 -3.56086389e+01] [-1.51002521e-02 7.29693933e-05 9.99885982e-01 -3.88855862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:-35.61, Z:-3.89 [[ 9.74904116e-01 2.22141138e-01 1.46724006e-02 1.85990775e+02] [-2.22114465e-01 9.75014515e-01 -3.44377888e-03 -3.56141874e+01] [-1.50708086e-02 9.84017906e-05 9.99886424e-01 -3.88890708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:-35.62, Z:-3.89 [[ 9.75217471e-01 2.20762563e-01 1.46552177e-02 1.86019551e+02] [-2.20735807e-01 9.75327574e-01 -3.43901475e-03 -3.56196569e+01] [-1.50528437e-02 1.18855950e-04 9.99886692e-01 -3.88933952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.05, Y:-35.62, Z:-3.89 [[ 9.75427963e-01 2.19848425e-01 1.43860639e-02 1.86046769e+02] [-2.19822553e-01 9.75534035e-01 -3.37520961e-03 -3.56241068e+01] [-1.47761295e-02 1.29892549e-04 9.99890819e-01 -3.88984396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:-35.63, Z:-3.89 [[ 9.75744112e-01 2.18460922e-01 1.40802521e-02 1.86075094e+02] [-2.18436006e-01 9.75845687e-01 -3.30265943e-03 -3.56259759e+01] [-1.44616553e-02 1.46916476e-04 9.99895414e-01 -3.89104308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:-35.63, Z:-3.89 [[ 9.75861308e-01 2.17933242e-01 1.41353679e-02 1.86103757e+02] [-2.17908091e-01 9.75963666e-01 -3.31446166e-03 -3.56305994e+01] [-1.45179368e-02 1.54243867e-04 9.99894597e-01 -3.89123616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.13, Y:-35.64, Z:-3.89 [[ 9.75956645e-01 2.17504785e-01 1.41525884e-02 1.86130683e+02] [-2.17479537e-01 9.76059241e-01 -3.31785644e-03 -3.56354632e+01] [-1.45354143e-02 1.60185667e-04 9.99894342e-01 -3.89188254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.16, Y:-35.64, Z:-3.89 [[ 9.76161801e-01 2.16591803e-01 1.40046224e-02 1.86158938e+02] [-2.16566999e-01 9.76262240e-01 -3.28227331e-03 -3.56407287e+01] [-1.43830975e-02 1.71090779e-04 9.99896543e-01 -3.89272902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.19, Y:-35.65, Z:-3.89 [[ 9.76504266e-01 2.15075880e-01 1.34827757e-02 1.86186723e+02] [-2.15052754e-01 9.76597323e-01 -3.15937619e-03 -3.56460637e+01] [-1.38467482e-02 1.85636293e-04 9.99904112e-01 -3.89273913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:-35.65, Z:-3.89 [[ 9.76778818e-01 2.13819597e-01 1.35764623e-02 1.86215392e+02] [-2.13796041e-01 9.76873143e-01 -3.18038446e-03 -3.56519712e+01] [-1.39425100e-02 2.03938280e-04 9.99902778e-01 -3.89338940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:186.24, Y:-35.66, Z:-3.89 [[ 9.77051180e-01 2.12582379e-01 1.34060910e-02 1.86242748e+02] [-2.12559302e-01 9.77143124e-01 -3.13987758e-03 -3.56576976e+01] [-1.37671522e-02 2.18231758e-04 9.99905204e-01 -3.89383921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.27, Y:-35.66, Z:-3.89 [[ 9.77324015e-01 2.11309241e-01 1.36445827e-02 1.86271400e+02] [-2.11285224e-01 9.77419228e-01 -3.19479908e-03 -3.56632664e+01] [-1.40115681e-02 2.39455159e-04 9.99901804e-01 -3.89414503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.30, Y:-35.67, Z:-3.89 [[ 9.77674096e-01 2.09651759e-01 1.41245061e-02 1.86298478e+02] [-2.09625860e-01 9.77776082e-01 -3.30649915e-03 -3.56679456e+01] [-1.45038176e-02 2.71816833e-04 9.99894777e-01 -3.89404493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:-35.67, Z:-3.89 [[ 9.77819461e-01 2.08968943e-01 1.41803859e-02 1.86327124e+02] [-2.08942781e-01 9.77922237e-01 -3.31853235e-03 -3.56741850e+01] [-1.45607849e-02 2.82036238e-04 9.99893946e-01 -3.89468982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.35, Y:-35.68, Z:-3.90 [[ 9.77953121e-01 2.08352045e-01 1.40398983e-02 1.86354195e+02] [-2.08326345e-01 9.78053855e-01 -3.28503311e-03 -3.56804101e+01] [-1.44162201e-02 2.87727673e-04 9.99896040e-01 -3.89512700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.38, Y:-35.69, Z:-3.90 [[ 9.78056164e-01 2.07885655e-01 1.37729552e-02 1.86381816e+02] [-2.07860890e-01 9.78153092e-01 -3.22166582e-03 -3.56868204e+01] [-1.41417969e-02 2.88111383e-04 9.99899958e-01 -3.89542041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:-35.69, Z:-3.90 [[ 9.78162378e-01 2.07392746e-01 1.36605326e-02 1.86409486e+02] [-2.07368349e-01 9.78257718e-01 -3.19443219e-03 -3.56928507e+01] [-1.40260236e-02 2.91911292e-04 9.99901588e-01 -3.89615319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.44, Y:-35.70, Z:-3.90 [[ 9.78197457e-01 2.07228974e-01 1.36340451e-02 1.86437766e+02] [-2.07204670e-01 9.78292424e-01 -3.18716564e-03 -3.56988903e+01] [-1.39985561e-02 2.92639503e-04 9.99901973e-01 -3.89746211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:-35.71, Z:-3.90 [[ 9.78128170e-01 2.07570539e-01 1.34072232e-02 1.86466066e+02] [-2.07547077e-01 9.78220012e-01 -3.13351337e-03 -3.57052422e+01] [-1.37656391e-02 2.82347716e-04 9.99905209e-01 -3.89802102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:-35.71, Z:-3.90 [[ 9.78097717e-01 2.07734813e-01 1.30806654e-02 1.86493342e+02] [-2.07712503e-01 9.78185143e-01 -3.05661237e-03 -3.57113060e+01] [-1.34302774e-02 2.72647828e-04 9.99909773e-01 -3.89902352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.52, Y:-35.72, Z:-3.90 [[ 9.77925537e-01 2.08585422e-01 1.24002274e-02 1.86520721e+02] [-2.08565450e-01 9.78004121e-01 -2.89689529e-03 -3.57177430e+01] [-1.27317237e-02 2.46688865e-04 9.99918918e-01 -3.89949762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.55, Y:-35.72, Z:-3.90 [[ 9.77894081e-01 2.08720094e-01 1.26130157e-02 1.86547057e+02] [-2.08699451e-01 9.77975389e-01 -2.94587082e-03 -3.57233946e+01] [-1.29500814e-02 2.48420178e-04 9.99916113e-01 -3.90028968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.57, Y:-35.73, Z:-3.90 [[ 9.77849392e-01 2.08935510e-01 1.25107571e-02 1.86574111e+02] [-2.08915233e-01 9.77929391e-01 -2.92084573e-03 -3.57290870e+01] [-1.28449055e-02 2.42459484e-04 9.99917471e-01 -3.90031270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:186.60, Y:-35.74, Z:-3.90 [[ 9.77793624e-01 2.09196345e-01 1.25107237e-02 1.86601261e+02] [-2.09176102e-01 9.77873628e-01 -2.91995492e-03 -3.57351452e+01] [-1.28447507e-02 2.38168883e-04 9.99917474e-01 -3.90109611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.63, Y:-35.74, Z:-3.90 [[ 9.77829927e-01 2.09025958e-01 1.25212921e-02 1.86629278e+02] [-2.09005680e-01 9.77910063e-01 -2.92133073e-03 -3.57421183e+01] [-1.28553315e-02 2.39543438e-04 9.99917338e-01 -3.90173978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.66, Y:-35.75, Z:-3.90 [[ 9.77871123e-01 2.08835138e-01 1.24880971e-02 1.86656360e+02] [-2.08814959e-01 9.77950831e-01 -2.91303034e-03 -3.57490754e+01] [-1.28210880e-02 2.40866772e-04 9.99917777e-01 -3.90206823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:-35.76, Z:-3.90 [[ 9.77914874e-01 2.08634377e-01 1.24176043e-02 1.86683545e+02] [-2.08614418e-01 9.77993680e-01 -2.89582453e-03 -3.57556072e+01] [-1.27485071e-02 2.41378574e-04 9.99918705e-01 -3.90252236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.71, Y:-35.76, Z:-3.90 [[ 9.77961651e-01 2.08432573e-01 1.21190951e-02 1.86709679e+02] [-2.08413555e-01 9.78036710e-01 -2.82555299e-03 -3.57622680e+01] [-1.24418571e-02 2.37498779e-04 9.99922569e-01 -3.90296031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.74, Y:-35.77, Z:-3.90 [[ 9.77853388e-01 2.08931777e-01 1.22582290e-02 1.86736485e+02] [-2.08912375e-01 9.77930191e-01 -2.85677163e-03 -3.57696439e+01] [-1.25845626e-02 2.32608081e-04 9.99920784e-01 -3.90321139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.76, Y:-35.78, Z:-3.90 [[ 9.77790450e-01 2.09220872e-01 1.23475741e-02 1.86763948e+02] [-2.09201218e-01 9.77868383e-01 -2.87691157e-03 -3.57765092e+01] [-1.26762123e-02 2.29889114e-04 9.99919627e-01 -3.90315253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:-35.78, Z:-3.90 [[ 9.77617426e-01 2.10012025e-01 1.26141836e-02 1.86790751e+02] [-2.09991592e-01 9.77698778e-01 -2.93799754e-03 -3.57834725e+01] [-1.29498867e-02 2.23365097e-04 9.99916122e-01 -3.90361692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.82, Y:-35.79, Z:-3.90 [[ 9.77464052e-01 2.10723887e-01 1.26281405e-02 1.86817839e+02] [-2.10703477e-01 9.77545599e-01 -2.94054413e-03 -3.57898271e+01] [-1.29642261e-02 2.13483065e-04 9.99915938e-01 -3.90377494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:-35.80, Z:-3.90 [[ 9.77164748e-01 2.12105760e-01 1.26570979e-02 1.86845039e+02] [-2.12085384e-01 9.77246698e-01 -2.94639870e-03 -3.57974566e+01] [-1.29940553e-02 1.94731475e-04 9.99915555e-01 -3.90476550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:-35.80, Z:-3.91 [[ 9.77033953e-01 2.12708627e-01 1.26370258e-02 1.86871972e+02] [-2.12688377e-01 9.77115656e-01 -2.94086538e-03 -3.58045600e+01] [-1.29733832e-02 1.85576830e-04 9.99915825e-01 -3.90515514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.90, Y:-35.81, Z:-3.91 [[ 9.76930852e-01 2.13190647e-01 1.24843099e-02 1.86899508e+02] [-2.13170934e-01 9.77010602e-01 -2.90443993e-03 -3.58115584e+01] [-1.28165026e-02 1.76144980e-04 9.99917850e-01 -3.90527922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.93, Y:-35.82, Z:-3.91 [[ 9.76846428e-01 2.13579957e-01 1.24361857e-02 1.86926179e+02] [-2.13560439e-01 9.76925572e-01 -2.89234492e-03 -3.58183567e+01] [-1.27669747e-02 1.69499523e-04 9.99918484e-01 -3.90628935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:-35.83, Z:-3.91 [[ 9.76739161e-01 2.14098924e-01 1.19274009e-02 1.86953593e+02] [-2.14081021e-01 9.76811971e-01 -2.77302946e-03 -3.58262843e+01] [-1.22445306e-02 1.55096311e-04 9.99925021e-01 -3.90720348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:186.98, Y:-35.83, Z:-3.90 [[ 9.76736835e-01 2.14126001e-01 1.16280445e-02 1.86980984e+02] [-2.14108991e-01 9.76806037e-01 -2.70306462e-03 -3.58327145e+01] [-1.19371405e-02 1.50513894e-04 9.99928738e-01 -3.89916192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.01, Y:-35.84, Z:-3.91 [[ 9.76825213e-01 2.13702829e-01 1.19835338e-02 1.87009085e+02] [-2.13684745e-01 9.76898703e-01 -2.78461973e-03 -3.58404961e+01] [-1.23017798e-02 1.59388377e-04 9.99924318e-01 -3.90826150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.04, Y:-35.85, Z:-3.91 [[ 9.76862603e-01 2.13544996e-01 1.17469012e-02 1.87036075e+02] [-2.13527614e-01 9.76933217e-01 -2.72914156e-03 -3.58476469e+01] [-1.20587325e-02 1.57708543e-04 9.99927278e-01 -3.90850430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.06, Y:-35.86, Z:-3.91 [[ 9.76942073e-01 2.13181382e-01 1.17424055e-02 1.87063063e+02] [-2.13163998e-01 9.77012626e-01 -2.72725655e-03 -3.58570322e+01] [-1.20538787e-02 1.61313577e-04 9.99927336e-01 -3.90925051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.058623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.09, Y:-35.87, Z:-3.91 [[ 9.76989489e-01 2.12976999e-01 1.15037525e-02 1.87090243e+02] [-2.12960305e-01 9.77057200e-01 -2.67136065e-03 -3.58650187e+01] [-1.18087625e-02 1.60048641e-04 9.99930261e-01 -3.90956075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:187.12, Y:-35.87, Z:-3.91 [[ 9.76996936e-01 2.12942824e-01 1.15039512e-02 1.87118829e+02] [-2.12926138e-01 9.77064649e-01 -2.67050466e-03 -3.58715682e+01] [-1.18087688e-02 1.59582973e-04 9.99930261e-01 -3.91012663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.118623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.15, Y:-35.88, Z:-3.91 [[ 9.77028420e-01 2.12809367e-01 1.12978231e-02 1.87146304e+02] [-2.12793268e-01 9.77093726e-01 -2.62234487e-03 -3.58793316e+01] [-1.15970916e-02 1.58004773e-04 9.99932739e-01 -3.91037369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:-35.89, Z:-3.91 [[ 9.76977897e-01 2.13019770e-01 1.16947289e-02 1.87174165e+02] [-2.13002542e-01 9.77047876e-01 -2.71387503e-03 -3.58884830e+01] [-1.20044190e-02 1.60388939e-04 9.99927932e-01 -3.91053704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.20, Y:-35.90, Z:-3.91 [[ 9.76903726e-01 2.13341738e-01 1.20171715e-02 1.87201257e+02] [-2.13323579e-01 9.76977624e-01 -2.78813796e-03 -3.58964073e+01] [-1.23353339e-02 1.60196323e-04 9.99923904e-01 -3.91067844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:-35.90, Z:-3.91 [[ 9.76830166e-01 2.13651310e-01 1.24877840e-02 1.87228794e+02] [-2.13631737e-01 9.76909971e-01 -2.89639283e-03 -3.59042456e+01] [-1.28182588e-02 1.61496900e-04 9.99917830e-01 -3.91181642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.26, Y:-35.91, Z:-3.91 [[ 9.76731640e-01 2.14084487e-01 1.27724917e-02 1.87256665e+02] [-2.14064057e-01 9.76815135e-01 -2.96177584e-03 -3.59122833e+01] [-1.31104334e-02 1.58728783e-04 9.99914042e-01 -3.91223731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:-35.92, Z:-3.91 [[ 9.76587972e-01 2.14735717e-01 1.28259333e-02 1.87284637e+02] [-2.14715180e-01 9.76672181e-01 -2.97353617e-03 -3.59201133e+01] [-1.31652567e-02 1.49997077e-04 9.99913323e-01 -3.91246348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.31, Y:-35.93, Z:-3.91 [[ 9.76451645e-01 2.15350893e-01 1.28910130e-02 1.87311017e+02] [-2.15330209e-01 9.76536724e-01 -2.98803683e-03 -3.59274833e+01] [-1.32320240e-02 1.41848957e-04 9.99912443e-01 -3.91301629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:-35.93, Z:-3.91 [[ 9.76305661e-01 2.16021384e-01 1.27285860e-02 1.87338654e+02] [-2.16001287e-01 9.76388624e-01 -2.94951213e-03 -3.59348668e+01] [-1.30652043e-02 1.30234435e-04 9.99914638e-01 -3.91339827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:-35.94, Z:-3.91 [[ 9.75805453e-01 2.18282293e-01 1.25123533e-02 1.87366859e+02] [-2.18263066e-01 9.75885665e-01 -2.89881189e-03 -3.59426969e+01] [-1.28433855e-02 9.76918557e-05 9.99917516e-01 -3.91370290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.40, Y:-35.95, Z:-3.91 [[ 9.75496879e-01 2.19658164e-01 1.24952207e-02 1.87395063e+02] [-2.19639110e-01 9.75576899e-01 -2.89420544e-03 -3.59497125e+01] [-1.28257845e-02 7.88492135e-05 9.99917743e-01 -3.91461012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.418623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.42, Y:-35.96, Z:-3.91 [[ 9.75215457e-01 2.20919299e-01 1.22260185e-02 1.87422532e+02] [-2.20901163e-01 9.75292089e-01 -2.83132133e-03 -3.59563239e+01] [-1.25494326e-02 6.04066171e-05 9.99921251e-01 -3.91486849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:-35.96, Z:-3.92 [[ 9.74942802e-01 2.22127067e-01 1.20871140e-02 1.87449333e+02] [-2.22109443e-01 9.75017725e-01 -2.79838165e-03 -3.59623120e+01] [-1.24067467e-02 4.35998958e-05 9.99923032e-01 -3.91553917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.48, Y:-35.97, Z:-3.92 [[ 9.74373561e-01 2.24627138e-01 1.17818502e-02 1.87476763e+02] [-2.24610585e-01 9.74444790e-01 -2.72698335e-03 -3.59680658e+01] [-1.20933170e-02 1.07722138e-05 9.99926873e-01 -3.91641466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:-35.97, Z:-3.92 [[ 9.74160576e-01 2.25542990e-01 1.18967299e-02 1.87504607e+02] [-2.25526191e-01 9.74233216e-01 -2.75273436e-03 -3.59745048e+01] [-1.22110494e-02 -1.41889477e-06 9.99925442e-01 -3.91709357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:-35.98, Z:-3.92 [[ 9.74004975e-01 2.26210540e-01 1.19624154e-02 1.87531553e+02] [-2.26193612e-01 9.74078432e-01 -2.76740927e-03 -3.59805942e+01] [-1.22783480e-02 -1.03515416e-05 9.99924618e-01 -3.91752288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.56, Y:-35.99, Z:-3.92 [[ 9.73934678e-01 2.26492511e-01 1.23444557e-02 1.87558696e+02] [-2.26474517e-01 9.74012907e-01 -2.85496380e-03 -3.59858394e+01] [-1.26702870e-02 -1.51563866e-05 9.99919729e-01 -3.91798221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:-35.99, Z:-3.92 [[ 9.74003398e-01 2.26182103e-01 1.26110175e-02 1.87587051e+02] [-2.26163309e-01 9.74085035e-01 -2.91576272e-03 -3.59918513e+01] [-1.29436967e-02 -1.21866403e-05 9.99916227e-01 -3.91828166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:-36.00, Z:-3.92 [[ 9.74071514e-01 2.25865677e-01 1.30146974e-02 1.87615651e+02] [-2.25845641e-01 9.74158455e-01 -3.00842200e-03 -3.59978119e+01] [-1.33578768e-02 -8.89450440e-06 9.99910780e-01 -3.91853445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:-36.00, Z:-3.92 [[ 9.74178733e-01 2.25390957e-01 1.32178920e-02 1.87643551e+02] [-2.25370256e-01 9.74268401e-01 -3.05472487e-03 -3.60035035e+01] [-1.35662819e-02 -3.07170913e-06 9.99907974e-01 -3.91890562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.67, Y:-36.01, Z:-3.92 [[ 9.74482909e-01 2.24082546e-01 1.30412155e-02 1.87671467e+02] [-2.24062285e-01 9.74570168e-01 -3.01326945e-03 -3.60095570e+01] [-1.33848007e-02 1.43350379e-05 9.99910419e-01 -3.92035878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:-36.02, Z:-3.92 [[ 9.74717504e-01 2.23067897e-01 1.29035569e-02 1.87698747e+02] [-2.23047980e-01 9.74802910e-01 -2.98090587e-03 -3.60160886e+01] [-1.32433692e-02 2.74288251e-05 9.99912302e-01 -3.92077707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.73, Y:-36.02, Z:-3.92 [[ 9.74978640e-01 2.21946669e-01 1.25031007e-02 1.87726374e+02] [-2.21927888e-01 9.75058806e-01 -2.88758738e-03 -3.60223903e+01] [-1.28321488e-02 4.05492932e-05 9.99917664e-01 -3.92135306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.75, Y:-36.03, Z:-3.92 [[ 9.75377927e-01 2.20202265e-01 1.22008850e-02 1.87753753e+02] [-2.20184251e-01 9.75454232e-01 -2.81728627e-03 -3.60275380e+01] [-1.25217777e-02 6.14761235e-05 9.99921598e-01 -3.92151902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:-36.03, Z:-3.92 [[ 9.75570567e-01 2.19348178e-01 1.21837836e-02 1.87782219e+02] [-2.19330158e-01 9.75646643e-01 -2.81250028e-03 -3.60333271e+01] [-1.25039844e-02 7.15213012e-05 9.99921820e-01 -3.92254250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.81, Y:-36.04, Z:-3.92 [[ 9.75728824e-01 2.18641117e-01 1.22198533e-02 1.87809736e+02] [-2.18622941e-01 9.75805337e-01 -2.82030223e-03 -3.60392275e+01] [-1.25408321e-02 8.03099157e-05 9.99921357e-01 -3.92301758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.84, Y:-36.05, Z:-3.92 [[ 9.75922197e-01 2.17783538e-01 1.20911518e-02 1.87838195e+02] [-2.17765687e-01 9.75997091e-01 -2.78979589e-03 -3.60454176e+01] [-1.24085006e-02 8.95857520e-05 9.99923008e-01 -3.92362345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.87, Y:-36.05, Z:-3.92 [[ 9.76067377e-01 2.17151923e-01 1.17267783e-02 1.87865739e+02] [-2.17135092e-01 9.76137815e-01 -2.70525844e-03 -3.60518215e+01] [-1.20344038e-02 9.42194247e-05 9.99927580e-01 -3.92416905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.89, Y:-36.06, Z:-3.92 [[ 9.76354949e-01 2.15844369e-01 1.19256931e-02 1.87893571e+02] [-2.15826874e-01 9.76427773e-01 -2.75030234e-03 -3.60583856e+01] [-1.22382152e-02 1.11386246e-04 9.99925104e-01 -3.92465349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:-36.06, Z:-3.93 [[ 9.76468139e-01 2.15337625e-01 1.18186404e-02 1.87921565e+02] [-2.15320413e-01 9.76539653e-01 -2.72506937e-03 -3.60644618e+01] [-1.21281810e-02 1.16148872e-04 9.99926444e-01 -3.92554924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:-36.07, Z:-3.93 [[ 9.76633682e-01 2.14597141e-01 1.16067968e-02 1.87949182e+02] [-2.14580495e-01 9.76702643e-01 -2.67564356e-03 -3.60701517e+01] [-1.19105745e-02 1.22531432e-04 9.99929059e-01 -3.92599315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:-36.08, Z:-3.93 [[ 9.76687148e-01 2.14343596e-01 1.17914194e-02 1.87976560e+02] [-2.14326404e-01 9.76758316e-01 -2.71767364e-03 -3.60761651e+01] [-1.20998829e-02 1.27104406e-04 9.99926786e-01 -3.92673554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.048623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.00, Y:-36.08, Z:-3.93 [[ 9.76757008e-01 2.14032421e-01 1.16563404e-02 1.88003294e+02] [-2.14015608e-01 9.76826549e-01 -2.68581299e-03 -3.60827968e+01] [-1.19610739e-02 1.28747877e-04 9.99928456e-01 -3.92691361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:-36.09, Z:-3.93 [[ 9.76866903e-01 2.13520808e-01 1.18286959e-02 1.88031058e+02] [-2.13503466e-01 9.76938507e-01 -2.72468565e-03 -3.60894942e+01] [-1.21376856e-02 1.36187666e-04 9.99926326e-01 -3.92805777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.06, Y:-36.10, Z:-3.93 [[ 9.76936106e-01 2.13215054e-01 1.16269337e-02 1.88057726e+02] [-2.13198283e-01 9.77005282e-01 -2.67773764e-03 -3.60965123e+01] [-1.19305096e-02 1.37136287e-04 9.99928820e-01 -3.92803629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:-36.10, Z:-3.93 [[ 9.76925417e-01 2.13255925e-01 1.17745570e-02 1.88086159e+02] [-2.13238738e-01 9.76996362e-01 -2.71090412e-03 -3.61027493e+01] [-1.20818157e-02 1.37559459e-04 9.99927003e-01 -3.92821233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:-36.11, Z:-3.93 [[ 9.76912804e-01 2.13301978e-01 1.19849911e-02 1.88113080e+02] [-2.13284181e-01 9.76986309e-01 -2.75883185e-03 -3.61086614e+01] [-1.22976365e-02 1.38929149e-04 9.99924372e-01 -3.92883035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:188.14, Y:-36.12, Z:-3.93 [[ 9.76867188e-01 2.13499436e-01 1.21855758e-02 1.88141236e+02] [-2.13481064e-01 9.76943177e-01 -2.80416598e-03 -3.61150462e+01] [-1.25033030e-02 1.37908054e-04 9.99921821e-01 -3.92969710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:-36.12, Z:-3.93 [[ 9.76792772e-01 2.13821388e-01 1.25018063e-02 1.88168404e+02] [-2.13802084e-01 9.76872763e-01 -2.87637046e-03 -3.61219089e+01] [-1.28277036e-02 1.36705627e-04 9.99917712e-01 -3.92979817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.20, Y:-36.13, Z:-3.93 [[ 9.76821032e-01 2.13665177e-01 1.29561899e-02 1.88195134e+02] [-2.13644441e-01 9.76906941e-01 -2.98007151e-03 -3.61280934e+01] [-1.32937294e-02 1.42978570e-04 9.99911624e-01 -3.93100583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.22, Y:-36.13, Z:-3.93 [[ 9.76818681e-01 2.13666385e-01 1.31125748e-02 1.88223466e+02] [-2.13645158e-01 9.76906677e-01 -3.01516103e-03 -3.61349215e+01] [-1.34540004e-02 1.43827499e-04 9.99909480e-01 -3.93118243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:-36.14, Z:-3.93 [[ 9.76836140e-01 2.13600202e-01 1.28883797e-02 1.88249907e+02] [-2.13579696e-01 9.76921150e-01 -2.96306679e-03 -3.61423676e+01] [-1.32238424e-02 1.41734497e-04 9.99912551e-01 -3.93137303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.28, Y:-36.15, Z:-3.93 [[ 9.76827317e-01 2.13624671e-01 1.31488543e-02 1.88278266e+02] [-2.13603342e-01 9.76915800e-01 -3.02205174e-03 -3.61491931e+01] [-1.34909083e-02 1.43383468e-04 9.99908983e-01 -3.93253159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.31, Y:-36.16, Z:-3.93 [[ 9.76826219e-01 2.13630380e-01 1.31376778e-02 1.88306047e+02] [-2.13609097e-01 9.76914551e-01 -3.01884846e-03 -3.61555627e+01] [-1.34793063e-02 1.42562847e-04 9.99909140e-01 -3.93308447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.33, Y:-36.16, Z:-3.93 [[ 9.76848688e-01 2.13545861e-01 1.28377202e-02 1.88332693e+02] [-2.13525538e-01 9.76933030e-01 -2.94939565e-03 -3.61617168e+01] [-1.31714241e-02 1.39932163e-04 9.99913243e-01 -3.93302025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.36, Y:-36.17, Z:-3.93 [[ 9.76876417e-01 2.13404288e-01 1.30796278e-02 1.88359098e+02] [-2.13383190e-01 9.76963965e-01 -3.00416053e-03 -3.61689135e+01] [-1.34194258e-02 1.43720866e-04 9.99909945e-01 -3.93407361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.39, Y:-36.18, Z:-3.93 [[ 9.76942475e-01 2.13103446e-01 1.30507807e-02 1.88386690e+02] [-2.13082425e-01 9.77029631e-01 -2.99669111e-03 -3.61762316e+01] [-1.33896047e-02 1.46702814e-04 9.99910344e-01 -3.93459845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:-36.18, Z:-3.93 [[ 9.76985122e-01 2.12929157e-01 1.26982293e-02 1.88413326e+02] [-2.12909248e-01 9.77067630e-01 -2.91522852e-03 -3.61833591e+01] [-1.30277660e-02 1.44564430e-04 9.99915125e-01 -3.93491470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:-36.19, Z:-3.94 [[ 9.77105302e-01 2.12360074e-01 1.29779442e-02 1.88440171e+02] [-2.12339240e-01 9.77191473e-01 -2.97865235e-03 -3.61906832e+01] [-1.33144832e-02 1.54730209e-04 9.99911346e-01 -3.93597981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.47, Y:-36.20, Z:-3.94 [[ 9.77186045e-01 2.12005850e-01 1.26867481e-02 1.88468773e+02] [-2.11985922e-01 9.77268385e-01 -2.91089912e-03 -3.61979361e+01] [-1.30154855e-02 1.55077998e-04 9.99915283e-01 -3.93621018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:-36.21, Z:-3.94 [[ 9.77276323e-01 2.11604926e-01 1.24235231e-02 1.88496874e+02] [-2.11585787e-01 9.77355273e-01 -2.85027947e-03 -3.62055165e+01] [-1.27453290e-02 1.56869731e-04 9.99918763e-01 -3.93747746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.618623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:-36.21, Z:-3.94 [[ 9.77407103e-01 2.11018543e-01 1.21049086e-02 1.88524561e+02] [-2.11000333e-01 9.77482045e-01 -2.77680427e-03 -3.62129957e+01] [-1.24182881e-02 1.59928459e-04 9.99922877e-01 -3.93816947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.55, Y:-36.22, Z:-3.94 [[ 9.77584143e-01 2.10239210e-01 1.13453562e-02 1.88553224e+02] [-2.10223168e-01 9.77649963e-01 -2.60191970e-03 -3.62226417e+01] [-1.16388126e-02 1.58538725e-04 9.99932254e-01 -3.93951208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.58, Y:-36.23, Z:-3.94 [[ 9.77678903e-01 2.09832824e-01 1.06839998e-02 1.88580414e+02] [-2.09818576e-01 9.77737267e-01 -2.45010676e-03 -3.62301852e+01] [-1.09602576e-02 1.53716068e-04 9.99939923e-01 -3.94019130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:-36.24, Z:-3.94 [[ 9.77730049e-01 2.09600015e-01 1.05728579e-02 1.88608399e+02] [-2.09586051e-01 9.77787201e-01 -2.42432309e-03 -3.62376645e+01] [-1.08461433e-02 1.54410006e-04 9.99941167e-01 -3.94064022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.64, Y:-36.25, Z:-3.94 [[ 9.77676561e-01 2.09809229e-01 1.13414785e-02 1.88636028e+02] [-2.09793182e-01 9.77742329e-01 -2.59994380e-03 -3.62467853e+01] [-1.16345358e-02 1.62539255e-04 9.99932303e-01 -3.94050918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.66, Y:-36.25, Z:-3.94 [[ 9.77584957e-01 2.10218238e-01 1.16595124e-02 1.88664774e+02] [-2.10201317e-01 9.77654472e-01 -2.67208078e-03 -3.62548928e+01] [-1.19606946e-02 1.61341111e-04 9.99928455e-01 -3.94068000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.69, Y:-36.26, Z:-3.94 [[ 9.77428676e-01 2.10917104e-01 1.21309289e-02 1.88693468e+02] [-2.10898845e-01 9.77503939e-01 -2.77979875e-03 -3.62628603e+01] [-1.24443379e-02 1.58656126e-04 9.99922554e-01 -3.94126834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:-36.27, Z:-3.94 [[ 9.77206804e-01 2.11931311e-01 1.23280671e-02 1.88721237e+02] [-2.11912537e-01 9.77284553e-01 -2.82473942e-03 -3.62702180e+01] [-1.26466803e-02 1.47882597e-04 9.99920017e-01 -3.94127149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.75, Y:-36.28, Z:-3.94 [[ 9.76575209e-01 2.14806929e-01 1.26033503e-02 1.88749535e+02] [-2.14787554e-01 9.76656526e-01 -2.88725453e-03 -3.62793009e+01] [-1.29293466e-02 1.12578420e-04 9.99916406e-01 -3.94146740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:-36.29, Z:-3.94 [[ 9.76156415e-01 2.16695639e-01 1.27143301e-02 1.88778551e+02] [-2.16676085e-01 9.76239209e-01 -2.91236816e-03 -3.62873085e+01] [-1.30433251e-02 8.80355788e-05 9.99914928e-01 -3.94195049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.81, Y:-36.29, Z:-3.94 [[ 9.75749482e-01 2.18527698e-01 1.25933830e-02 1.88807607e+02] [-2.18508671e-01 9.75830744e-01 -2.88435702e-03 -3.62945557e+01] [-1.29193222e-02 6.26464894e-05 9.99916540e-01 -3.94201904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:188.84, Y:-36.30, Z:-3.94 [[ 9.75263747e-01 2.20696261e-01 1.24009916e-02 1.88835698e+02] [-2.20677989e-01 9.75342586e-01 -2.84006692e-03 -3.63013238e+01] [-1.27220073e-02 3.31884352e-05 9.99919071e-01 -3.94287659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.86, Y:-36.31, Z:-3.94 [[ 9.74168283e-01 2.25500173e-01 1.20759118e-02 1.88863281e+02] [-2.25483218e-01 9.74243127e-01 -2.76537445e-03 -3.63075398e+01] [-1.23884665e-02 -2.89753716e-05 9.99923260e-01 -3.94396399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.89, Y:-36.31, Z:-3.94 [[ 9.73672632e-01 2.27638577e-01 1.19283213e-02 1.88891876e+02] [-2.27622205e-01 9.73745693e-01 -2.73069479e-03 -3.63139625e+01] [-1.22367630e-02 -5.63480104e-05 9.99925126e-01 -3.94466192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.92, Y:-36.32, Z:-3.95 [[ 9.73690404e-01 2.27562540e-01 1.19283990e-02 1.88920488e+02] [-2.27546167e-01 9.73763466e-01 -2.73035530e-03 -3.63204017e+01] [-1.22367657e-02 -5.57407084e-05 9.99925126e-01 -3.94522780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.95, Y:-36.33, Z:-3.95 [[ 9.73170407e-01 2.29763021e-01 1.21783624e-02 1.88948332e+02] [-2.29746142e-01 9.73246601e-01 -2.78631833e-03 -3.63266405e+01] [-1.24927427e-02 -8.63692218e-05 9.99921959e-01 -3.94592385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:-36.33, Z:-3.95 [[ 9.72759169e-01 2.31498458e-01 1.21681025e-02 1.88975266e+02] [-2.31481749e-01 9.72835265e-01 -2.78345183e-03 -3.63323696e+01] [-1.24819241e-02 -1.09065366e-04 9.99922092e-01 -3.94595005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:-36.34, Z:-3.95 [[ 9.72340327e-01 2.33234413e-01 1.24899015e-02 1.89004118e+02] [-2.33216965e-01 9.72420531e-01 -2.85605198e-03 -3.63383173e+01] [-1.28115662e-02 -1.35802406e-04 9.99917919e-01 -3.94672398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.03, Y:-36.34, Z:-3.95 [[ 9.71785308e-01 2.35545157e-01 1.23204623e-02 1.89032321e+02] [-2.35528368e-01 9.71863392e-01 -2.81702700e-03 -3.63432533e+01] [-1.26373433e-02 -1.64272934e-04 9.99920132e-01 -3.94735816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:-36.35, Z:-3.95 [[ 9.71613692e-01 2.36244140e-01 1.24715463e-02 1.89060901e+02] [-2.36226998e-01 9.71693715e-01 -2.85130330e-03 -3.63486341e+01] [-1.27921269e-02 -1.75750617e-04 9.99918162e-01 -3.94806420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.09, Y:-36.35, Z:-3.95 [[ 9.71499765e-01 2.36707230e-01 1.25655824e-02 1.89088991e+02] [-2.36689876e-01 9.71581007e-01 -2.87216159e-03 -3.63537753e+01] [-1.28883426e-02 -1.83841835e-04 9.99916925e-01 -3.94872939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.12, Y:-36.36, Z:-3.95 [[ 9.71361527e-01 2.37243990e-01 1.31176499e-02 1.89116886e+02] [-2.37225135e-01 9.71450075e-01 -2.99771834e-03 -3.63567801e+01] [-1.34543327e-02 -1.99968012e-04 9.99909466e-01 -3.94972444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.14, Y:-36.36, Z:-3.95 [[ 9.71443095e-01 2.36914022e-01 1.30407124e-02 1.89144107e+02] [-2.36895368e-01 9.71530601e-01 -2.97932180e-03 -3.63611490e+01] [-1.33752943e-02 -1.95042782e-04 9.99910528e-01 -3.95005686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.17, Y:-36.37, Z:-3.95 [[ 9.71605314e-01 2.36253899e-01 1.29309166e-02 1.89172432e+02] [-2.36235510e-01 9.71691340e-01 -2.95338760e-03 -3.63658942e+01] [-1.32626091e-02 -1.85214603e-04 9.99912031e-01 -3.95072471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.20, Y:-36.37, Z:-3.95 [[ 9.71900370e-01 2.35041748e-01 1.28470784e-02 1.89200889e+02] [-2.35023500e-01 9.71985262e-01 -2.93360566e-03 -3.63705979e+01] [-1.31766906e-02 -1.68192892e-04 9.99913169e-01 -3.95158211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.23, Y:-36.37, Z:-3.95 [[ 9.72609735e-01 2.32104521e-01 1.25616367e-02 1.89229061e+02] [-2.32086837e-01 9.72690843e-01 -2.86790039e-03 -3.63735146e+01] [-1.28842417e-02 -1.26042695e-04 9.99916987e-01 -3.95263326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.398623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:189.26, Y:-36.38, Z:-3.95 [[ 9.73041122e-01 2.30285658e-01 1.26289499e-02 1.89257906e+02] [-2.30267642e-01 9.73123068e-01 -2.88241620e-03 -3.63786565e+01] [-1.29533016e-02 -1.03329024e-04 9.99916097e-01 -3.95320784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.29, Y:-36.38, Z:-3.95 [[ 9.73540332e-01 2.28165813e-01 1.26326311e-02 1.89285295e+02] [-2.28147615e-01 9.73622286e-01 -2.88268743e-03 -3.63835233e+01] [-1.29571419e-02 -7.56921727e-05 9.99916050e-01 -3.95333108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.31, Y:-36.39, Z:-3.95 [[ 9.74009559e-01 2.26145239e-01 1.27948858e-02 1.89313436e+02] [-2.26126408e-01 9.74093593e-01 -2.91881226e-03 -3.63884323e+01] [-1.31234918e-02 -5.03105172e-05 9.99913882e-01 -3.95390378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.34, Y:-36.39, Z:-3.95 [[ 9.74984780e-01 2.21866001e-01 1.34222449e-02 1.89340925e+02] [-2.21844881e-01 9.75077165e-01 -3.06125784e-03 -3.63914904e+01] [-1.37669135e-02 7.02348329e-06 9.99905232e-01 -3.95485217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.37, Y:-36.40, Z:-3.96 [[ 9.75513017e-01 2.19509253e-01 1.37855938e-02 1.89369387e+02] [-2.19486752e-01 9.75610417e-01 -3.14314964e-03 -3.63968014e+01] [-1.41393193e-02 4.04281823e-05 9.99900034e-01 -3.95600355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.40, Y:-36.40, Z:-3.96 [[ 9.76094742e-01 2.16902656e-01 1.38669677e-02 1.89396741e+02] [-2.16879635e-01 9.76193235e-01 -3.16104901e-03 -3.64020963e+01] [-1.42224800e-02 7.80204108e-05 9.99898852e-01 -3.95656535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:-36.41, Z:-3.96 [[ 9.77349634e-01 2.11201384e-01 1.34784572e-02 1.89425144e+02] [-2.11179105e-01 9.77442556e-01 -3.07152271e-03 -3.64068861e+01] [-1.38231275e-02 1.55583060e-04 9.99904444e-01 -3.95798563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.608623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:189.45, Y:-36.41, Z:-3.96 [[ 9.77984672e-01 2.08262232e-01 1.31462600e-02 1.89452551e+02] [-2.08240777e-01 9.78073006e-01 -2.99548470e-03 -3.64129303e+01] [-1.34818484e-02 1.91950728e-04 9.99909097e-01 -3.95905355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.48, Y:-36.42, Z:-3.96 [[ 9.78601768e-01 2.05373985e-01 1.26533179e-02 1.89480992e+02] [-2.05353880e-01 9.78683543e-01 -2.88220067e-03 -3.64196600e+01] [-1.29755230e-02 2.22118743e-04 9.99915790e-01 -3.95973723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.668623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:189.51, Y:-36.43, Z:-3.96 [[ 9.79168304e-01 2.02656289e-01 1.26436349e-02 1.89509701e+02] [-2.02635992e-01 9.79249898e-01 -2.87968873e-03 -3.64266027e+01] [-1.29648652e-02 2.57644425e-04 9.99915919e-01 -3.96019931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.54, Y:-36.43, Z:-3.96 [[ 9.80132361e-01 1.97906131e-01 1.31801832e-02 1.89537389e+02] [-1.97883649e-01 9.80220920e-01 -3.00161330e-03 -3.64331469e+01] [-1.35135290e-02 3.33835579e-04 9.99908632e-01 -3.96071677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:189.57, Y:-36.44, Z:-3.96 [[ 9.80563828e-01 1.95751365e-01 1.32658019e-02 1.89566293e+02] [-1.95728400e-01 9.80653491e-01 -3.02054328e-03 -3.64403997e+01] [-1.36004304e-02 3.65341308e-04 9.99907443e-01 -3.96138177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:189.60, Y:-36.45, Z:-3.96 [[ 9.80915412e-01 1.93964995e-01 1.35105545e-02 1.89595374e+02] [-1.93941010e-01 9.81008371e-01 -3.07593203e-03 -3.64482900e+01] [-1.38505902e-02 3.96978552e-04 9.99903997e-01 -3.96167663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:189.62, Y:-36.46, Z:-3.96 [[ 9.81425329e-01 1.91326841e-01 1.40841952e-02 1.89624277e+02] [-1.91300511e-01 9.81526279e-01 -3.20605341e-03 -3.64577880e+01] [-1.44374118e-02 4.52188275e-04 9.99895673e-01 -3.96179541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81862385300002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:189.65, Y:-36.47, Z:-3.96 [[ 9.81565950e-01 1.90619852e-01 1.38692890e-02 1.89652598e+02] [-1.90594249e-01 9.81663825e-01 -3.15719409e-03 -3.64654226e+01] [-1.42168031e-02 4.55587504e-04 9.99898832e-01 -3.96197673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:189.68, Y:-36.47, Z:-3.96 [[ 9.81636827e-01 1.90261775e-01 1.37694269e-02 1.89682588e+02] [-1.90236507e-01 9.81733288e-01 -3.13423174e-03 -3.64733177e+01] [-1.41142292e-02 4.57229629e-04 9.99900285e-01 -3.96207617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:189.71, Y:-36.48, Z:-3.96 [[ 9.81619442e-01 1.90317272e-01 1.42340417e-02 1.89711733e+02] [-1.90290276e-01 9.81722524e-01 -3.23998856e-03 -3.64814902e+01] [-1.45905052e-02 4.71836031e-04 9.99893442e-01 -3.96292580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:189.74, Y:-36.49, Z:-3.96 [[ 9.81501691e-01 1.90888405e-01 1.46985789e-02 1.89741442e+02] [-1.90859682e-01 9.81611628e-01 -3.34572769e-03 -3.64906543e+01] [-1.50669566e-02 4.78471284e-04 9.99886372e-01 -3.95675590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:189.77, Y:-36.50, Z:-3.96 [[ 9.81298534e-01 1.91890863e-01 1.52014776e-02 1.89770988e+02] [-1.91860261e-01 9.81416154e-01 -3.46015483e-03 -3.64990653e+01] [-1.55829478e-02 4.78885397e-04 9.99878464e-01 -3.96389259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.80, Y:-36.51, Z:-3.96 [[ 9.81116794e-01 1.92826445e-01 1.50929976e-02 1.89801273e+02] [-1.92796388e-01 9.81232770e-01 -3.43559930e-03 -3.65070188e+01] [-1.54722182e-02 4.60848762e-04 9.99880192e-01 -3.96420221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:189.83, Y:-36.52, Z:-3.96 [[ 9.80865605e-01 1.94092282e-01 1.51937768e-02 1.89832046e+02] [-1.94061976e-01 9.80983175e-01 -3.45835451e-03 -3.65155937e+01] [-1.55760793e-02 4.43646634e-04 9.99878587e-01 -3.96497206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02862385300003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:189.86, Y:-36.53, Z:-3.97 [[ 9.80198901e-01 1.97471611e-01 1.46655099e-02 1.89861249e+02] [-1.97443715e-01 9.80308533e-01 -3.34066772e-03 -3.65260341e+01] [-1.50364115e-02 3.78906083e-04 9.99886875e-01 -3.96540545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:189.89, Y:-36.53, Z:-3.97 [[ 9.79808300e-01 1.99404127e-01 1.46180842e-02 1.89890752e+02] [-1.99376580e-01 9.79917277e-01 -3.33296515e-03 -3.65339810e+01] [-1.49891203e-02 3.51163279e-04 9.99887595e-01 -3.96632317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:189.92, Y:-36.54, Z:-3.97 [[ 9.79353958e-01 2.01650871e-01 1.42390522e-02 1.89921541e+02] [-2.01624983e-01 9.79457417e-01 -3.24572959e-03 -3.65419580e+01] [-1.46010495e-02 3.07769470e-04 9.99893352e-01 -3.96642541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.118623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:189.95, Y:-36.55, Z:-3.97 [[ 9.78556054e-01 2.05497676e-01 1.40980194e-02 1.89950547e+02] [-2.05472650e-01 9.78657571e-01 -3.21684273e-03 -3.65517352e+01] [-1.44581871e-02 2.51103524e-04 9.99895443e-01 -3.96717874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:189.98, Y:-36.56, Z:-3.97 [[ 9.78199020e-01 2.07196989e-01 1.40030316e-02 1.89979638e+02] [-2.07172470e-01 9.78299217e-01 -3.19534615e-03 -3.65605860e+01] [-1.43612210e-02 2.24641829e-04 9.99896847e-01 -3.96779301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.178623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:190.01, Y:-36.57, Z:-3.97 [[ 9.77936188e-01 2.08443839e-01 1.38556529e-02 1.90008656e+02] [-2.08419956e-01 9.78034316e-01 -3.16188556e-03 -3.65690716e+01] [-1.42103796e-02 2.04327728e-04 9.99899007e-01 -3.96839266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208623853 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:190.04, Y:-36.58, Z:-3.96 [[ 9.77545164e-01 2.10272115e-01 1.38235337e-02 1.90038711e+02] [-2.10248525e-01 9.77642883e-01 -3.15465794e-03 -3.65788827e+01] [-1.41778159e-02 1.77443048e-04 9.99899474e-01 -3.96220950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.238623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:190.07, Y:-36.59, Z:-3.97 [[ 9.77304675e-01 2.11364097e-01 1.41700672e-02 1.90068740e+02] [-2.11339422e-01 9.77407382e-01 -3.23376898e-03 -3.65881781e+01] [-1.45334310e-02 1.65683716e-04 9.99894370e-01 -3.96945181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.268623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:190.10, Y:-36.60, Z:-3.97 [[ 9.77199645e-01 2.11827385e-01 1.44917942e-02 1.90098959e+02] [-2.11801602e-01 9.77307082e-01 -3.30900634e-03 -3.65966994e+01] [-1.48638712e-02 1.64174599e-04 9.99889513e-01 -3.97040398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.298623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:190.13, Y:-36.61, Z:-3.97 [[ 9.77069644e-01 2.12434964e-01 1.43630403e-02 1.90128880e+02] [-2.12409697e-01 9.77175195e-01 -3.27996243e-03 -3.66054774e+01] [-1.47319854e-02 1.53902693e-04 9.99891467e-01 -3.97106388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.328623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:190.16, Y:-36.62, Z:-3.97 [[ 9.76797416e-01 2.13707196e-01 1.40014977e-02 1.90159540e+02] [-2.13683321e-01 9.76897752e-01 -3.19700975e-03 -3.66176786e+01] [-1.43612556e-02 1.30944346e-04 9.99896863e-01 -3.97196998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.358623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:190.19, Y:-36.63, Z:-3.97 [[ 9.76615553e-01 2.14559401e-01 1.36500622e-02 1.90189315e+02] [-2.14536760e-01 9.76710935e-01 -3.11914883e-03 -3.66269021e+01] [-1.40014077e-02 1.17769152e-04 9.99901969e-01 -3.97261969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.388623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:190.22, Y:-36.64, Z:-3.97 [[ 9.76436659e-01 2.15374598e-01 1.36100454e-02 1.90220930e+02] [-2.15352140e-01 9.76531500e-01 -3.11199249e-03 -3.66362989e+01] [-1.39608822e-02 1.07711127e-04 9.99902536e-01 -3.97356047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.418623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.25, Y:-36.65, Z:-3.97 [[ 9.76193656e-01 2.16489907e-01 1.33441508e-02 1.90251267e+02] [-2.16468385e-01 9.76284852e-01 -3.05394536e-03 -3.66455191e+01] [-1.36888406e-02 9.26553009e-05 9.99906299e-01 -3.97405666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:-36.66, Z:-3.97 [[ 9.75805567e-01 2.18240940e-01 1.32055700e-02 1.90280790e+02] [-2.18219977e-01 9.75894916e-01 -3.02567843e-03 -3.66558011e+01] [-1.35475755e-02 7.07546820e-05 9.99908225e-01 -3.97482243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:190.31, Y:-36.66, Z:-3.98 [[ 9.75534595e-01 2.19456958e-01 1.30728045e-02 1.90310604e+02] [-2.19436529e-01 9.75622181e-01 -2.99479875e-03 -3.66643514e+01] [-1.34113475e-02 5.28789293e-05 9.99910062e-01 -3.97535083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.34, Y:-36.67, Z:-3.98 [[ 9.75271787e-01 2.20617016e-01 1.31557567e-02 1.90341766e+02] [-2.20596405e-01 9.75360513e-01 -3.01586630e-03 -3.66735508e+01] [-1.34969570e-02 3.91766923e-05 9.99908911e-01 -3.97623739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:190.37, Y:-36.68, Z:-3.98 [[ 9.74795617e-01 2.22713927e-01 1.31153132e-02 1.90372254e+02] [-2.22693602e-01 9.74883843e-01 -3.00886074e-03 -3.66845640e+01] [-1.34560221e-02 1.23279331e-05 9.99909464e-01 -3.97720151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.40, Y:-36.69, Z:-3.98 [[ 9.74589708e-01 2.23613322e-01 1.31142525e-02 1.90403589e+02] [-2.23593052e-01 9.74677938e-01 -3.01073244e-03 -3.66934565e+01] [-1.34554125e-02 1.97309509e-06 9.99909472e-01 -3.97783778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:190.43, Y:-36.70, Z:-3.98 [[ 9.74404849e-01 2.24409944e-01 1.32426086e-02 1.90434424e+02] [-2.24389307e-01 9.74494832e-01 -3.04332299e-03 -3.67022567e+01] [-1.35878056e-02 -6.07108055e-06 9.99907681e-01 -3.97869669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:190.47, Y:-36.71, Z:-3.97 [[ 9.74329766e-01 2.24738901e-01 1.31883831e-02 1.90465822e+02] [-2.24718440e-01 9.74419020e-01 -3.03252612e-03 -3.67106638e+01] [-1.35325379e-02 -8.99240415e-06 9.99908431e-01 -3.97332322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65862385300002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:190.50, Y:-36.72, Z:-3.98 [[ 9.74101803e-01 2.25682536e-01 1.38949570e-02 1.90496426e+02] [-2.25659897e-01 9.74200899e-01 -3.19659722e-03 -3.67224426e+01] [-1.42578958e-02 -2.17234548e-05 9.99898351e-01 -3.98028337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:190.53, Y:-36.73, Z:-3.98 [[ 9.74061263e-01 2.25845554e-01 1.40869214e-02 1.90528006e+02] [-2.25822269e-01 9.74163120e-01 -3.24305461e-03 -3.67311797e+01] [-1.44553888e-02 -2.22066987e-05 9.99895515e-01 -3.98073067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:190.56, Y:-36.74, Z:-3.98 [[ 9.74009638e-01 2.26047585e-01 1.44122782e-02 1.90559332e+02] [-2.26023192e-01 9.74116260e-01 -3.32084588e-03 -3.67402091e+01] [-1.47899038e-02 -2.29732420e-05 9.99890623e-01 -3.98112381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:190.59, Y:-36.75, Z:-3.98 [[ 9.73917205e-01 2.26451928e-01 1.43108972e-02 1.90591453e+02] [-2.26427879e-01 9.74022342e-01 -3.30029691e-03 -3.67488025e+01] [-1.46864922e-02 -2.61701545e-05 9.99892147e-01 -3.97697208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.62, Y:-36.76, Z:-3.98 [[ 9.73646959e-01 2.27591918e-01 1.46122766e-02 1.90622857e+02] [-2.27566929e-01 9.73756601e-01 -3.37276450e-03 -3.67586193e+01] [-1.49964148e-02 -4.13890255e-05 9.99887547e-01 -3.98221011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80862385300003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:190.65, Y:-36.77, Z:-3.98 [[ 9.73476777e-01 2.28323425e-01 1.45388428e-02 1.90654311e+02] [-2.28298725e-01 9.73585338e-01 -3.35873994e-03 -3.67667795e+01] [-1.49216832e-02 -4.95439404e-05 9.99888664e-01 -3.98328748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.838623853 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:190.69, Y:-36.78, Z:-3.98 [[ 9.73109448e-01 2.29931950e-01 1.37586394e-02 1.90685618e+02] [-2.29909953e-01 9.73206707e-01 -3.18114080e-03 -3.67755316e+01] [-1.41214461e-02 -6.76499782e-05 9.99900285e-01 -3.98417826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:190.72, Y:-36.78, Z:-3.99 [[ 9.72954678e-01 2.30574826e-01 1.39443216e-02 1.90717902e+02] [-2.30552260e-01 9.73054594e-01 -3.22669614e-03 -3.67836985e+01] [-1.43125811e-02 -7.54657539e-05 9.99897567e-01 -3.98506975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.898623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:190.75, Y:-36.79, Z:-3.99 [[ 9.72935524e-01 2.30655681e-01 1.39435909e-02 1.90750497e+02] [-2.30633078e-01 9.73035432e-01 -3.22985025e-03 -3.67913893e+01] [-1.43125913e-02 -7.34172489e-05 9.99897567e-01 -3.98571653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:190.78, Y:-36.80, Z:-3.99 [[ 9.72783391e-01 2.31318558e-01 1.35719863e-02 1.90781521e+02] [-2.31297199e-01 9.72878059e-01 -3.14440135e-03 -3.67997391e+01] [-1.39312461e-02 -8.03410101e-05 9.99902952e-01 -3.98661900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.958623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:190.81, Y:-36.81, Z:-3.99 [[ 9.72788994e-01 2.31291890e-01 1.36247967e-02 1.90813824e+02] [-2.31270328e-01 9.72884400e-01 -3.15912975e-03 -3.68080350e+01] [-1.39860332e-02 -7.78445324e-05 9.99902188e-01 -3.98768495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.988623853 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:190.84, Y:-36.82, Z:-3.98 [[ 9.72880336e-01 2.30910116e-01 1.35782623e-02 1.90844859e+02] [-2.30888626e-01 9.72975084e-01 -3.15107421e-03 -3.68152859e+01] [-1.39389258e-02 -6.94481884e-05 9.99902846e-01 -3.98142992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.018623853 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:190.88, Y:-36.82, Z:-3.98 [[ 9.73053343e-01 2.30145093e-01 1.41572737e-02 1.90876168e+02] [-2.30121610e-01 9.73156325e-01 -3.28815084e-03 -3.68244841e+01] [-1.45339922e-02 -5.83484408e-05 9.99894374e-01 -3.98195942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.048623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:190.91, Y:-36.83, Z:-3.99 [[ 9.73153955e-01 2.29690203e-01 1.46215677e-02 1.90907066e+02] [-2.29665058e-01 9.73263792e-01 -3.39902279e-03 -3.68334742e+01] [-1.50113646e-02 -5.02907089e-05 9.99887322e-01 -3.98982514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.078623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:190.94, Y:-36.84, Z:-3.99 [[ 9.73295934e-01 2.29088362e-01 1.46132758e-02 1.90939288e+02] [-2.29063131e-01 9.73405630e-01 -3.40017513e-03 -3.68421312e+01] [-1.50035855e-02 -3.79860779e-05 9.99887439e-01 -3.99088767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.108623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:190.97, Y:-36.85, Z:-3.99 [[ 9.73593950e-01 2.27791461e-01 1.50289728e-02 1.90971334e+02] [-2.27764605e-01 9.73709941e-01 -3.49780062e-03 -3.68510305e+01] [-1.54306293e-02 -1.76305383e-05 9.99880941e-01 -3.99185497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.138623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:191.00, Y:-36.86, Z:-3.99 [[ 9.73757186e-01 2.27072235e-01 1.53343643e-02 1.91002970e+02] [-2.27044141e-01 9.73877918e-01 -3.57188958e-03 -3.68591828e+01] [-1.57448758e-02 -3.42442622e-06 9.99876042e-01 -3.99265325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.168623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:191.03, Y:-36.87, Z:-3.99 [[ 9.73916862e-01 2.26370944e-01 1.55609223e-02 1.91033438e+02] [-2.26341870e-01 9.74041167e-01 -3.62801722e-03 -3.68674843e+01] [-1.59782566e-02 1.12988890e-05 9.99872339e-01 -3.99322065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:191.07, Y:-36.88, Z:-3.99 [[ 9.74047544e-01 2.25771701e-01 1.60785723e-02 1.91065367e+02] [-2.25740525e-01 9.74180239e-01 -3.75192713e-03 -3.68765460e+01] [-1.65105064e-02 2.49700508e-05 9.99863692e-01 -3.99404066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:191.10, Y:-36.89, Z:-3.99 [[ 9.74374769e-01 2.24387307e-01 1.56251915e-02 1.91096070e+02] [-2.24357636e-01 9.74500043e-01 -3.64926118e-03 -3.68852357e+01] [-1.60455976e-02 5.01170059e-05 9.99871260e-01 -3.99456789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:191.13, Y:-36.89, Z:-4.00 [[ 9.74477515e-01 2.23947636e-01 1.55251023e-02 1.91127435e+02] [-2.23918241e-01 9.74601176e-01 -3.62882641e-03 -3.68931346e+01] [-1.59434501e-02 5.98561394e-05 9.99872893e-01 -3.99567927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.16, Y:-36.90, Z:-4.00 [[ 9.74557699e-01 2.23609124e-01 1.53704568e-02 1.91159513e+02] [-2.23580226e-01 9.74678899e-01 -3.59544855e-03 -3.69011464e+01] [-1.57852350e-02 6.74418701e-05 9.99875403e-01 -3.99626084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:191.19, Y:-36.91, Z:-4.00 [[ 9.74616608e-01 2.23345634e-01 1.54659699e-02 1.91190703e+02] [-2.23316292e-01 9.74739310e-01 -3.62101611e-03 -3.69094634e+01] [-1.58840269e-02 7.52994031e-05 9.99873838e-01 -3.99678194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:191.22, Y:-36.92, Z:-4.00 [[ 9.74785503e-01 2.22606791e-01 1.54738516e-02 1.91221351e+02] [-2.22577278e-01 9.74908308e-01 -3.62584367e-03 -3.69191549e+01] [-1.58927239e-02 9.02920846e-05 9.99873699e-01 -3.99787713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:191.25, Y:-36.93, Z:-4.00 [[ 9.74822252e-01 2.22415226e-01 1.59073714e-02 1.91253185e+02] [-2.22383962e-01 9.74952028e-01 -3.73040129e-03 -3.69277996e+01] [-1.63386221e-02 9.89339154e-05 9.99866511e-01 -3.99863477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:191.28, Y:-36.94, Z:-4.00 [[ 9.74846376e-01 2.22298072e-01 1.60657915e-02 1.91284099e+02] [-2.22266110e-01 9.74978747e-01 -3.77094025e-03 -3.69363934e+01] [-1.65020780e-02 1.05206462e-04 9.99863826e-01 -3.99888661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:191.32, Y:-36.94, Z:-4.00 [[ 9.74860914e-01 2.22222692e-01 1.62257140e-02 1.91315147e+02] [-2.22190028e-01 9.74995930e-01 -3.81162807e-03 -3.69446747e+01] [-1.66670354e-02 1.10615374e-04 9.99861089e-01 -3.99944369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46862385300003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:191.35, Y:-36.95, Z:-4.00 [[ 9.74808635e-01 2.22426558e-01 1.65696116e-02 1.91346565e+02] [-2.22392470e-01 9.74949442e-01 -3.89561423e-03 -3.69529453e+01] [-1.70210217e-02 1.12521542e-04 9.99855126e-01 -4.00037895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:191.38, Y:-36.96, Z:-4.00 [[ 9.74706670e-01 2.22882721e-01 1.64377917e-02 1.91377002e+02] [-2.22849181e-01 9.74845260e-01 -3.86798069e-03 -3.69614384e+01] [-1.68864094e-02 1.06998154e-04 9.99857409e-01 -4.00127748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:191.41, Y:-36.97, Z:-4.00 [[ 9.74623540e-01 2.23241382e-01 1.64997050e-02 1.91408523e+02] [-2.23207587e-01 9.74763189e-01 -3.88569179e-03 -3.69699601e+01] [-1.69507522e-02 1.04227365e-04 9.99856320e-01 -4.00210413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55862385300003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:191.44, Y:-36.98, Z:-4.00 [[ 9.74495473e-01 2.23821446e-01 1.62029028e-02 1.91440617e+02] [-2.23788883e-01 9.74630161e-01 -3.81898440e-03 -3.69779167e+01] [-1.66466084e-02 9.55534798e-05 9.99861431e-01 -3.99638546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.588623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.47, Y:-36.99, Z:-4.00 [[ 9.74147323e-01 2.25284901e-01 1.68435892e-02 1.91472711e+02] [-2.25249869e-01 9.74292927e-01 -3.97353451e-03 -3.69865960e+01] [-1.73057672e-02 7.67917397e-05 9.99850241e-01 -4.00379186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.618623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.50, Y:-36.99, Z:-4.00 [[ 9.73909247e-01 2.26331386e-01 1.65795573e-02 1.91503869e+02] [-2.26297536e-01 9.74050358e-01 -3.91469986e-03 -3.69942214e+01] [-1.70353431e-02 6.06494284e-05 9.99854886e-01 -4.00421520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.54, Y:-37.00, Z:-4.01 [[ 9.73704570e-01 2.27193651e-01 1.68064160e-02 1.91536176e+02] [-2.27158939e-01 9.73849600e-01 -3.97159109e-03 -3.70021562e+01] [-1.72692418e-02 4.94287548e-05 9.99850874e-01 -4.00552099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.678623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:191.57, Y:-37.01, Z:-4.01 [[ 9.73420979e-01 2.28420311e-01 1.66059763e-02 1.91567064e+02] [-2.28386545e-01 9.73562613e-01 -3.92754853e-03 -3.70097777e+01] [-1.70640896e-02 3.05765814e-05 9.99854397e-01 -4.00629282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.708623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.60, Y:-37.02, Z:-4.01 [[ 9.72978410e-01 2.30325431e-01 1.62237604e-02 1.91598813e+02] [-2.30293417e-01 9.73113660e-01 -3.84010147e-03 -3.70174741e+01] [-1.66720359e-02 1.10599887e-07 9.99861012e-01 -4.00739032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.738623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.63, Y:-37.03, Z:-4.01 [[ 9.72777495e-01 2.31171364e-01 1.62402624e-02 1.91630434e+02] [-2.31139350e-01 9.72913049e-01 -3.84713018e-03 -3.70254163e+01] [-1.66897095e-02 -1.13620440e-05 9.99860717e-01 -4.00867599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.768623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:191.66, Y:-37.03, Z:-4.01 [[ 9.72599789e-01 2.31935242e-01 1.59904108e-02 1.91661604e+02] [-2.31904257e-01 9.72731229e-01 -3.79109265e-03 -3.70334101e+01] [-1.64336600e-02 -2.10284253e-05 9.99864958e-01 -4.00923752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.798623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:191.69, Y:-37.04, Z:-4.01 [[ 9.72425620e-01 2.32665130e-01 1.59796769e-02 1.91693329e+02] [-2.32634237e-01 9.72556907e-01 -3.79146837e-03 -3.70412844e+01] [-1.64232876e-02 -3.04989667e-05 9.99865128e-01 -4.00968578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.828623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:191.73, Y:-37.05, Z:-4.01 [[ 9.72118220e-01 2.33919295e-01 1.63685813e-02 1.91725263e+02] [-2.33887002e-01 9.72256016e-01 -3.88711216e-03 -3.70480431e+01] [-1.68237222e-02 -4.96658492e-05 9.99858470e-01 -4.01033211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.858623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:191.76, Y:-37.06, Z:-4.01 [[ 9.71890741e-01 2.34848063e-01 1.65763459e-02 1.91756668e+02] [-2.34815018e-01 9.72032090e-01 -3.94000573e-03 -3.70551487e+01] [-1.70380429e-02 -6.31198888e-05 9.99854840e-01 -4.01093786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.888623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.79, Y:-37.06, Z:-4.01 [[ 9.71684140e-01 2.35685423e-01 1.68021959e-02 1.91789264e+02] [-2.35651563e-01 9.71829396e-01 -3.99566620e-03 -3.70625778e+01] [-1.72705881e-02 -7.69382425e-05 9.99850849e-01 -4.01171538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.918623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:191.82, Y:-37.07, Z:-4.01 [[ 9.71300158e-01 2.37273291e-01 1.66549575e-02 1.91820456e+02] [-2.37240198e-01 9.71442935e-01 -3.96397359e-03 -3.70692243e+01] [-1.71198859e-02 -1.01017249e-04 9.99853439e-01 -4.01275815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:191.85, Y:-37.08, Z:-4.01 [[ 9.71044098e-01 2.38340907e-01 1.63392961e-02 1.91851880e+02] [-2.38309158e-01 9.71181548e-01 -3.89182394e-03 -3.70759712e+01] [-1.67960038e-02 -1.14671234e-04 9.99858931e-01 -4.01337775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:191.88, Y:-37.08, Z:-4.01 [[ 9.70878937e-01 2.39011930e-01 1.63519628e-02 1.91884693e+02] [-2.38980178e-01 9.71016623e-01 -3.89779674e-03 -3.70823413e+01] [-1.68096476e-02 -1.23506223e-04 9.99858700e-01 -4.01457401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:191.92, Y:-37.09, Z:-4.02 [[ 9.70701084e-01 2.39754378e-01 1.60388437e-02 1.91915876e+02] [-2.39723877e-01 9.70833570e-01 -3.82641152e-03 -3.70884513e+01] [-1.64884468e-02 -1.30591976e-04 9.99864048e-01 -4.01535475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.95, Y:-37.09, Z:-4.02 [[ 9.70606044e-01 2.40142970e-01 1.59769000e-02 1.91947164e+02] [-2.40112704e-01 9.70737522e-01 -3.81486821e-03 -3.70947687e+01] [-1.64254901e-02 -1.33522518e-04 9.99865084e-01 -4.01626524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:191.98, Y:-37.10, Z:-4.02 [[ 9.70411823e-01 2.40912559e-01 1.61873948e-02 1.91979306e+02] [-2.40881568e-01 9.70546813e-01 -3.86692876e-03 -3.71002644e+01] [-1.66422161e-02 -1.46731649e-04 9.99861498e-01 -4.01721196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:192.01, Y:-37.11, Z:-4.02 [[ 9.70354119e-01 2.41130378e-01 1.64019844e-02 1.92011283e+02] [-2.41098535e-01 9.70492719e-01 -3.92145731e-03 -3.71067937e+01] [-1.68635890e-02 -1.49292171e-04 9.99857788e-01 -4.01817576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:192.04, Y:-37.11, Z:-4.02 [[ 9.70262172e-01 2.41503728e-01 1.63482805e-02 1.92043724e+02] [-2.41472092e-01 9.70399880e-01 -3.91186161e-03 -3.71136756e+01] [-1.68090986e-02 -1.52122154e-04 9.99858706e-01 -4.01874354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15862385300002 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:192.08, Y:-37.12, Z:-4.01 [[ 9.70267845e-01 2.41530755e-01 1.55949922e-02 1.92076581e+02] [-2.41501924e-01 9.70393154e-01 -3.73456123e-03 -3.71195305e+01] [-1.60352851e-02 -1.42695940e-04 9.99871416e-01 -4.01103686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18862385300002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:192.11, Y:-37.12, Z:-4.02 [[ 9.70505267e-01 2.40528251e-01 1.62998973e-02 1.92107766e+02] [-2.40496555e-01 9.70642130e-01 -3.90681454e-03 -3.71249779e+01] [-1.67610663e-02 -1.28485054e-04 9.99859515e-01 -4.02029464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.14, Y:-37.13, Z:-4.02 [[ 9.70687598e-01 2.39774797e-01 1.65418608e-02 1.92140156e+02] [-2.39741990e-01 9.70828530e-01 -3.96790842e-03 -3.71312711e+01] [-1.70107148e-02 -1.14179127e-04 9.99855301e-01 -4.02098829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:192.17, Y:-37.14, Z:-4.02 [[ 9.70937977e-01 2.38721673e-01 1.70706878e-02 1.92173091e+02] [-2.38686511e-01 9.71088026e-01 -4.09826030e-03 -3.71372249e+01] [-1.75554841e-02 -9.53863559e-05 9.99845886e-01 -4.02165884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.20, Y:-37.14, Z:-4.02 [[ 9.71186134e-01 2.37682846e-01 1.74458719e-02 1.92204562e+02] [-2.37645889e-01 9.71342812e-01 -4.19197285e-03 -3.71434793e+01] [-1.79422823e-02 -7.47538163e-05 9.99839022e-01 -4.02251626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30862385300003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:192.24, Y:-37.15, Z:-4.02 [[ 9.72088502e-01 2.33886257e-01 1.84706260e-02 1.92236960e+02] [-2.33844073e-01 9.72263966e-01 -4.44190718e-03 -3.71494706e+01] [-1.89972251e-02 -1.31952420e-06 9.99819536e-01 -4.02331707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.338623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:192.27, Y:-37.16, Z:-4.02 [[ 9.72431794e-01 2.32461972e-01 1.83803598e-02 1.92267820e+02] [-2.32419870e-01 9.72605486e-01 -4.42417587e-03 -3.71564844e+01] [-1.89052915e-02 3.02484390e-05 9.99821279e-01 -4.02448947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.368623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:192.30, Y:-37.16, Z:-4.03 [[ 9.72865735e-01 2.30671634e-01 1.79682503e-02 1.92300278e+02] [-2.30631028e-01 9.73031650e-01 -4.32853757e-03 -3.71636353e+01] [-1.84821471e-02 6.70498486e-05 9.99829188e-01 -4.02525774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.398623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:192.33, Y:-37.17, Z:-4.03 [[ 9.73283889e-01 2.28913238e-01 1.78101189e-02 1.92332473e+02] [-2.28872984e-01 9.73446824e-01 -4.29397109e-03 -3.71705567e+01] [-1.83201505e-02 1.02997818e-04 9.99832167e-01 -4.02622222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.36, Y:-37.18, Z:-4.03 [[ 9.74163416e-01 2.25189802e-01 1.71811810e-02 1.92364817e+02] [-2.25151701e-01 9.74314900e-01 -4.14577995e-03 -3.71770155e+01] [-1.76734680e-02 1.70295037e-04 9.99843798e-01 -4.02721784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.458623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:192.40, Y:-37.18, Z:-4.03 [[ 9.74577942e-01 2.23404738e-01 1.69752472e-02 1.92396142e+02] [-2.23367212e-01 9.74725747e-01 -4.09965712e-03 -3.71847721e+01] [-1.74620933e-02 2.03721760e-04 9.99847505e-01 -4.02815487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.488623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.43, Y:-37.19, Z:-4.03 [[ 9.75312129e-01 2.20146635e-01 1.73697866e-02 1.92427839e+02] [-2.20106764e-01 9.75466753e-01 -4.19844292e-03 -3.71935754e+01] [-1.78679224e-02 2.71584775e-04 9.99840319e-01 -4.02815908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.518623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.46, Y:-37.20, Z:-4.03 [[ 9.75565115e-01 2.19014805e-01 1.74705852e-02 1.92458852e+02] [-2.18974224e-01 9.75721490e-01 -4.22644771e-03 -3.72019204e+01] [-1.79720801e-02 2.97567104e-04 9.99838445e-01 -4.02847317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.548623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:192.49, Y:-37.21, Z:-4.03 [[ 9.75894262e-01 2.17515214e-01 1.78191427e-02 1.92490114e+02] [-2.17472681e-01 9.76056873e-01 -4.31432035e-03 -3.72101310e+01] [-1.83309271e-02 3.35143722e-04 9.99831918e-01 -4.02918585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.578623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.52, Y:-37.22, Z:-4.03 [[ 9.76137661e-01 2.16398494e-01 1.80819811e-02 1.92522400e+02] [-2.16354464e-01 9.76305055e-01 -4.38022169e-03 -3.72190070e+01] [-1.86014029e-02 3.63582035e-04 9.99826913e-01 -4.03010705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.608623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:192.55, Y:-37.23, Z:-4.03 [[ 9.76356177e-01 2.15431815e-01 1.78255239e-02 1.92553193e+02] [-2.15388797e-01 9.76518811e-01 -4.32175284e-03 -3.72273940e+01] [-1.83380025e-02 3.80151935e-04 9.99831772e-01 -4.03068258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.59, Y:-37.24, Z:-4.03 [[ 9.76553459e-01 2.14590388e-01 1.71553564e-02 1.92585326e+02] [-2.14550380e-01 9.76704059e-01 -4.16123839e-03 -3.72367136e+01] [-1.76486680e-02 3.82983501e-04 9.99844177e-01 -4.03176999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.668623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.62, Y:-37.24, Z:-4.03 [[ 9.76472700e-01 2.14966869e-01 1.70385230e-02 1.92616390e+02] [-2.14927401e-01 9.76621269e-01 -4.13635123e-03 -3.72449427e+01] [-1.75293624e-02 3.76988598e-04 9.99846278e-01 -4.03271231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:192.65, Y:-37.25, Z:-4.03 [[ 9.76346681e-01 2.15540464e-01 1.70137050e-02 1.92648316e+02] [-2.15501142e-01 9.76494840e-01 -4.13351467e-03 -3.72535004e+01] [-1.75047348e-02 3.69270472e-04 9.99846712e-01 -4.03322998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:192.68, Y:-37.26, Z:-4.03 [[ 9.76116998e-01 2.16558114e-01 1.72681450e-02 1.92680504e+02] [-2.16517705e-01 9.76269662e-01 -4.19877105e-03 -3.72622553e+01] [-1.77676440e-02 3.59632676e-04 9.99842078e-01 -4.03347618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.71, Y:-37.27, Z:-4.03 [[ 9.75843852e-01 2.17778341e-01 1.73600352e-02 1.92712476e+02] [-2.17737632e-01 9.75998195e-01 -4.22457594e-03 -3.72709270e+01] [-1.78633842e-02 3.42593494e-04 9.99840378e-01 -4.03421401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:192.74, Y:-37.28, Z:-4.04 [[ 9.75259384e-01 2.20405096e-01 1.70507631e-02 1.92742781e+02] [-2.20366163e-01 9.75408380e-01 -4.15285649e-03 -3.72796649e+01] [-1.75467680e-02 2.92701017e-04 9.99846001e-01 -4.03522670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:192.78, Y:-37.29, Z:-4.04 [[ 9.74998932e-01 2.21539689e-01 1.72408988e-02 1.92775077e+02] [-2.21500022e-01 9.75151316e-01 -4.20128693e-03 -3.72881130e+01] [-1.77432369e-02 2.77390799e-04 9.99842538e-01 -4.03583078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:192.81, Y:-37.30, Z:-4.04 [[ 9.74980843e-01 2.21619347e-01 1.72400747e-02 1.92807580e+02] [-2.21579633e-01 9.75133215e-01 -4.20466576e-03 -3.72961842e+01] [-1.77432048e-02 2.79419148e-04 9.99842538e-01 -4.03647755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:192.84, Y:-37.30, Z:-4.04 [[ 9.74703595e-01 2.22816835e-01 1.74802670e-02 1.92839021e+02] [-2.22776174e-01 9.74860292e-01 -4.26463056e-03 -3.73047560e+01] [-1.79910497e-02 2.62563715e-04 9.99838113e-01 -4.03759415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:192.87, Y:-37.31, Z:-4.04 [[ 9.74400553e-01 2.24162090e-01 1.71732087e-02 1.92871269e+02] [-2.24122993e-01 9.74551846e-01 -4.19317526e-03 -3.73133550e+01] [-1.76761332e-02 2.36921350e-04 9.99843737e-01 -4.03790927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93862385300002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:192.90, Y:-37.32, Z:-4.04 [[ 9.73824119e-01 2.26690657e-01 1.66712761e-02 1.92901888e+02] [-2.26654125e-01 9.73966791e-01 -4.07399055e-03 -3.73218133e+01] [-1.71608048e-02 1.88736780e-04 9.99852725e-01 -4.03923493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:192.93, Y:-37.33, Z:-4.04 [[ 9.73581877e-01 2.27741866e-01 1.64915697e-02 1.92934216e+02] [-2.27706215e-01 9.73721527e-01 -4.03320340e-03 -3.73305345e+01] [-1.69767257e-02 1.71420831e-04 9.99855870e-01 -4.04025274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.96, Y:-37.34, Z:-4.04 [[ 9.73314970e-01 2.28888819e-01 1.63669898e-02 1.92964698e+02] [-2.28853810e-01 9.73452559e-01 -4.00609594e-03 -3.73386678e+01] [-1.68494386e-02 1.53545188e-04 9.99858026e-01 -4.04056109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:193.00, Y:-37.35, Z:-4.04 [[ 9.73059309e-01 2.29949354e-01 1.66995602e-02 1.92996616e+02] [-2.29913008e-01 9.73202587e-01 -4.09073259e-03 -3.73465940e+01] [-1.71927165e-02 1.41079313e-04 9.99852184e-01 -4.04068698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.03, Y:-37.35, Z:-4.04 [[ 9.72551348e-01 2.32077145e-01 1.68544920e-02 1.93027848e+02] [-2.32040379e-01 9.72697377e-01 -4.13220395e-03 -3.73548436e+01] [-1.73533103e-02 1.07857796e-04 9.99849414e-01 -4.04163607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.088623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:193.06, Y:-37.36, Z:-4.04 [[ 9.72313661e-01 2.33079240e-01 1.67395799e-02 1.93058494e+02] [-2.33043067e-01 9.72457742e-01 -4.10723031e-03 -3.73633120e+01] [-1.72358442e-02 9.24730908e-05 9.99851448e-01 -4.04201726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.118623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:193.09, Y:-37.37, Z:-4.04 [[ 9.72129767e-01 2.33858355e-01 1.65525203e-02 1.93090412e+02] [-2.33823048e-01 9.72270674e-01 -4.06440122e-03 -3.73718629e+01] [-1.70440242e-02 8.07646665e-05 9.99854737e-01 -4.04263257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.148623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:193.12, Y:-37.38, Z:-4.04 [[ 9.72068615e-01 2.34133737e-01 1.62481107e-02 1.93122409e+02] [-2.34099701e-01 9.72204396e-01 -3.99286684e-03 -3.73791517e+01] [-1.67313494e-02 7.76626847e-05 9.99860018e-01 -4.04403339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.178623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.15, Y:-37.39, Z:-4.04 [[ 9.72092304e-01 2.34036060e-01 1.62380970e-02 1.93154345e+02] [-2.34001998e-01 9.72227914e-01 -3.99365638e-03 -3.73871370e+01] [-1.67217907e-02 8.24555034e-05 9.99860178e-01 -4.04489044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.208623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:193.18, Y:-37.40, Z:-4.05 [[ 9.72175764e-01 2.33665310e-01 1.65772807e-02 1.93184990e+02] [-2.33629697e-01 9.72317085e-01 -4.08049815e-03 -3.73954401e+01] [-1.70718441e-02 9.40163401e-05 9.99854261e-01 -4.04566717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.238623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:193.22, Y:-37.41, Z:-4.05 [[ 9.72520597e-01 2.32241022e-01 1.63644576e-02 1.93216892e+02] [-2.32206066e-01 9.72658261e-01 -4.03108509e-03 -3.74055567e+01] [-1.68532082e-02 1.20386955e-04 9.99857967e-01 -4.04671839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.268623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:193.25, Y:-37.41, Z:-4.05 [[ 9.72701270e-01 2.31511108e-01 1.59639000e-02 1.93248632e+02] [-2.31477693e-01 9.72832251e-01 -3.93549682e-03 -3.74145344e+01] [-1.64413080e-02 1.32776004e-04 9.99864824e-01 -4.04762830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.298623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:193.28, Y:-37.42, Z:-4.05 [[ 9.72930349e-01 2.30578316e-01 1.54976144e-02 1.93279376e+02] [-2.30546659e-01 9.73053759e-01 -3.82359157e-03 -3.74240670e+01] [-1.59616492e-02 1.47165069e-04 9.99872594e-01 -4.04852983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.328623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:193.31, Y:-37.43, Z:-4.05 [[ 9.73153868e-01 2.29641382e-01 1.53748254e-02 1.93311167e+02] [-2.29610063e-01 9.73275300e-01 -3.79607863e-03 -3.74335133e+01] [-1.58356745e-02 1.63953984e-04 9.99874594e-01 -4.04953698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.358623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:193.34, Y:-37.44, Z:-4.05 [[ 9.73428614e-01 2.28488744e-01 1.51534496e-02 1.93341341e+02] [-2.28458132e-01 9.73546537e-01 -3.74454205e-03 -3.74435236e+01] [-1.56081741e-02 1.83115596e-04 9.99878168e-01 -4.05032201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.388623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:193.37, Y:-37.45, Z:-4.05 [[ 9.73507968e-01 2.28137375e-01 1.53484272e-02 1.93373154e+02] [-2.28105879e-01 9.73628934e-01 -3.79570730e-03 -3.74525820e+01] [-1.58096155e-02 1.94084827e-04 9.99875001e-01 -4.05078747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.418623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:193.40, Y:-37.46, Z:-4.05 [[ 9.73523153e-01 2.28030764e-01 1.59574516e-02 1.93404297e+02] [-2.27996650e-01 9.73653906e-01 -3.94965832e-03 -3.74619040e+01] [-1.64376787e-02 2.06838301e-04 9.99864871e-01 -4.05082235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:193.44, Y:-37.47, Z:-4.05 [[ 9.73473787e-01 2.28207356e-01 1.64374011e-02 1.93436172e+02] [-2.28171131e-01 9.73612529e-01 -4.07157076e-03 -3.74713331e+01] [-1.69328221e-02 2.13026997e-04 9.99856607e-01 -4.05094081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:193.47, Y:-37.48, Z:-4.05 [[ 9.73235726e-01 2.29195393e-01 1.67837244e-02 1.93467543e+02] [-2.29157715e-01 9.73380414e-01 -4.16068159e-03 -3.74814121e+01] [-1.72905577e-02 2.03204030e-04 9.99850486e-01 -4.05149792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:193.50, Y:-37.49, Z:-4.05 [[ 9.73061797e-01 2.29917516e-01 1.69904667e-02 1.93498623e+02] [-2.29878952e-01 9.73210099e-01 -4.21545084e-03 -3.74906735e+01] [-1.75044998e-02 1.96143496e-04 9.99846765e-01 -4.05212504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53862385300002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:193.53, Y:-37.50, Z:-4.05 [[ 9.72812387e-01 2.30947617e-01 1.72990493e-02 1.93528927e+02] [-2.30907765e-01 9.72966168e-01 -4.29408886e-03 -3.74997362e+01] [-1.78230993e-02 1.82858022e-04 9.99841139e-01 -4.05265888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:193.56, Y:-37.51, Z:-4.05 [[ 9.72584962e-01 2.31891939e-01 1.74533679e-02 1.93560993e+02] [-2.31851468e-01 9.72741538e-01 -4.33554828e-03 -3.75087331e+01] [-1.79829946e-02 1.70100076e-04 9.99838278e-01 -4.05325850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:193.59, Y:-37.52, Z:-4.05 [[ 9.72084020e-01 2.33979816e-01 1.74958086e-02 1.93593048e+02] [-2.33939426e-01 9.72241445e-01 -4.34947321e-03 -3.75183237e+01] [-1.80278392e-02 1.35093995e-04 9.99837476e-01 -4.05394607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:193.62, Y:-37.53, Z:-4.05 [[ 9.71877564e-01 2.34811224e-01 1.78238743e-02 1.93624839e+02] [-2.34769380e-01 9.72040983e-01 -4.43452846e-03 -3.75274381e+01] [-1.83668134e-02 1.25318792e-04 9.99831308e-01 -4.05467002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65862385300002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:193.66, Y:-37.54, Z:-4.06 [[ 9.71682113e-01 2.35622802e-01 1.77698199e-02 1.93655527e+02] [-2.35581285e-01 9.71844577e-01 -4.42446979e-03 -3.75366221e+01] [-1.83120091e-02 1.12941160e-04 9.99832315e-01 -4.05507964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68862385300002 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:193.69, Y:-37.55, Z:-4.06 [[ 9.71510622e-01 2.36357269e-01 1.73882785e-02 1.93687357e+02] [-2.36317579e-01 9.71666214e-01 -4.33247343e-03 -3.75457513e+01] [-1.79196144e-02 9.98880710e-05 9.99839426e-01 -4.05634859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.72, Y:-37.55, Z:-4.06 [[ 9.71424749e-01 2.36715878e-01 1.73075309e-02 1.93718781e+02] [-2.36676553e-01 9.71578913e-01 -4.31572530e-03 -3.75540107e+01] [-1.78372328e-02 9.61156109e-05 9.99840899e-01 -4.05748268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:193.75, Y:-37.56, Z:-4.06 [[ 9.71327989e-01 2.37116587e-01 1.72529015e-02 1.93750000e+02] [-2.37077509e-01 9.71481197e-01 -4.30565090e-03 -3.75628347e+01] [-1.77818106e-02 9.19243125e-05 9.99841887e-01 -4.05759328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:193.78, Y:-37.57, Z:-4.06 [[ 9.71116917e-01 2.38000000e-01 1.69686250e-02 1.93781695e+02] [-2.37962280e-01 9.71265151e-01 -4.23787877e-03 -3.75735672e+01] [-1.74896493e-02 7.75830828e-05 9.99847041e-01 -4.05786002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.81, Y:-37.58, Z:-4.06 [[ 9.70973222e-01 2.38572060e-01 1.71573256e-02 1.93813694e+02] [-2.38533522e-01 9.71124795e-01 -4.28854061e-03 -3.75829439e+01] [-1.76850302e-02 7.14607906e-05 9.99843605e-01 -4.05879909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.84, Y:-37.59, Z:-4.06 [[ 9.70839315e-01 2.39130133e-01 1.69648135e-02 1.93844424e+02] [-2.39092480e-01 9.70987526e-01 -4.24387532e-03 -3.75918810e+01] [-1.74874607e-02 6.39616829e-05 9.99847081e-01 -4.05957683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.868623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:193.88, Y:-37.60, Z:-4.06 [[ 9.70721252e-01 2.39645198e-01 1.64447643e-02 1.93876378e+02] [-2.39609842e-01 9.70860534e-01 -4.11677440e-03 -3.76007164e+01] [-1.69521379e-02 5.59130265e-05 9.99856301e-01 -4.05990766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.898623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:193.91, Y:-37.61, Z:-4.06 [[ 9.70602790e-01 2.40146338e-01 1.61232836e-02 1.93906756e+02] [-2.40112366e-01 9.70736696e-01 -4.03956357e-03 -3.76091501e+01] [-1.66215494e-02 4.94119089e-05 9.99861851e-01 -4.06087017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.928623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.94, Y:-37.62, Z:-4.06 [[ 9.70506125e-01 2.40571074e-01 1.56019174e-02 1.93939010e+02] [-2.40539272e-01 9.70631525e-01 -3.91177160e-03 -3.76180786e+01] [-1.60847720e-02 4.35244253e-05 9.99870631e-01 -4.06189176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.958623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:193.97, Y:-37.63, Z:-4.06 [[ 9.70567628e-01 2.40317994e-01 1.56761463e-02 1.93970163e+02] [-2.40285805e-01 9.70694215e-01 -3.93354187e-03 -3.76274729e+01] [-1.61620454e-02 5.10129581e-05 9.99869384e-01 -4.06239742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.988623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:194.00, Y:-37.64, Z:-4.06 [[ 9.70722594e-01 2.39691484e-01 1.56728170e-02 1.94001133e+02] [-2.39659175e-01 9.70849107e-01 -3.93592442e-03 -3.76373714e+01] [-1.61593480e-02 6.45563603e-05 9.99869427e-01 -4.06352636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:194.03, Y:-37.65, Z:-4.06 [[ 9.71108135e-01 2.38117397e-01 1.57827577e-02 1.94031140e+02] [-2.38084376e-01 9.71236375e-01 -3.96654778e-03 -3.76483921e+01] [-1.62732924e-02 9.43188124e-05 9.99867577e-01 -4.06393442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.048623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:194.06, Y:-37.66, Z:-4.06 [[ 9.71341912e-01 2.37145852e-01 1.60229803e-02 1.94061634e+02] [-2.37111635e-01 9.71474051e-01 -4.02998504e-03 -3.76572825e+01] [-1.65216038e-02 1.15258312e-04 9.99863502e-01 -4.06449200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.078623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:194.09, Y:-37.67, Z:-4.06 [[ 9.71481951e-01 2.36582481e-01 1.58602897e-02 1.94093195e+02] [-2.36548835e-01 9.71611401e-01 -3.99188749e-03 -3.76660317e+01] [-1.63544490e-02 1.26313597e-04 9.99866249e-01 -4.06015866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.108623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:194.12, Y:-37.68, Z:-4.07 [[ 9.71574920e-01 2.36177831e-01 1.61928002e-02 1.94124464e+02] [-2.36142647e-01 9.71709840e-01 -4.07892402e-03 -3.76765417e+01] [-1.66980547e-02 1.39169591e-04 9.99860568e-01 -4.06546321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.138623853 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:194.16, Y:-37.69, Z:-4.06 [[ 9.71685106e-01 2.35750777e-01 1.57995742e-02 1.94155173e+02] [-2.35717173e-01 9.71813536e-01 -3.98307306e-03 -3.76862184e+01] [-1.62932527e-02 1.46061805e-04 9.99867245e-01 -4.05712950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.168623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:194.19, Y:-37.70, Z:-4.07 [[ 9.71620800e-01 2.35988876e-01 1.61948173e-02 1.94185570e+02] [-2.35953548e-01 9.71755745e-01 -4.08592811e-03 -3.76963599e+01] [-1.67016403e-02 1.48748133e-04 9.99860507e-01 -4.06647204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:194.22, Y:-37.71, Z:-4.07 [[ 9.71539469e-01 2.36346525e-01 1.58550100e-02 1.94217658e+02] [-2.36312664e-01 9.71668822e-01 -4.00311547e-03 -3.77056222e+01] [-1.63519413e-02 1.42445037e-04 9.99866288e-01 -4.06709931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22862385300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:194.25, Y:-37.71, Z:-4.07 [[ 9.71397262e-01 2.36946184e-01 1.56162017e-02 1.94248030e+02] [-2.36913363e-01 9.71522768e-01 -3.94595592e-03 -3.77144010e+01] [-1.61064746e-02 1.33403921e-04 9.99870273e-01 -4.06774667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25862385300002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:194.28, Y:-37.72, Z:-4.07 [[ 9.71199060e-01 2.37799187e-01 1.49643594e-02 1.94279644e+02] [-2.37769110e-01 9.71314333e-01 -3.78388378e-03 -3.77238753e+01] [-1.54349012e-02 1.16841971e-04 9.99880868e-01 -4.06836398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28862385300002 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:194.31, Y:-37.73, Z:-4.07 [[ 9.71037192e-01 2.38441490e-01 1.52455963e-02 1.94310296e+02] [-2.38410301e-01 9.71156858e-01 -3.85809358e-03 -3.77322344e+01] [-1.57257950e-02 1.11645139e-04 9.99876336e-01 -4.06906937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:194.34, Y:-37.74, Z:-4.07 [[ 9.70901829e-01 2.38985353e-01 1.53505679e-02 1.94341602e+02] [-2.38953757e-01 9.71023167e-01 -3.88744554e-03 -3.77411621e+01] [-1.58347996e-02 1.06252119e-04 9.99874616e-01 -4.06933858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34862385300002 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:194.37, Y:-37.75, Z:-4.07 [[ 9.70770386e-01 2.39508275e-01 1.55127191e-02 1.94372997e+02] [-2.39476026e-01 9.70894318e-01 -3.93155268e-03 -3.77501596e+01] [-1.60028502e-02 1.01710598e-04 9.99871941e-01 -4.06970431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37862385300002 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:194.40, Y:-37.76, Z:-4.07 [[ 9.70548531e-01 2.40370450e-01 1.60498232e-02 1.94403695e+02] [-2.40335993e-01 9.70681224e-01 -4.07093062e-03 -3.77594522e+01] [-1.65577934e-02 9.36855500e-05 9.99862906e-01 -4.07019922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40862385300002 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:194.44, Y:-37.77, Z:-4.07 [[ 9.70396779e-01 2.40980891e-01 1.60717470e-02 1.94435491e+02] [-2.40946376e-01 9.70529857e-01 -4.07935714e-03 -3.77685839e+01] [-1.65811574e-02 8.61658423e-05 9.99862519e-01 -4.07082426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:194.47, Y:-37.78, Z:-4.07 [[ 9.70292822e-01 2.41414360e-01 1.58412681e-02 1.94465843e+02] [-2.41380835e-01 9.70422125e-01 -4.02392536e-03 -3.77772246e+01] [-1.63441505e-02 8.06073655e-05 9.99866422e-01 -4.07161839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:194.50, Y:-37.79, Z:-4.07 [[ 9.70102052e-01 2.42202980e-01 1.54830542e-02 1.94497384e+02] [-2.42171012e-01 9.70225598e-01 -3.93562412e-03 -3.77864188e+01] [-1.59752755e-02 6.84101212e-05 9.99872385e-01 -4.07218392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:194.53, Y:-37.79, Z:-4.07 [[ 9.69702065e-01 2.43870509e-01 1.43206212e-02 1.94527856e+02] [-2.43843305e-01 9.69807802e-01 -3.64272196e-03 -3.77948697e+01] [-1.47766026e-02 4.03674162e-05 9.99890819e-01 -4.07327370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52862385300003 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:194.56, Y:-37.80, Z:-4.07 [[ 9.69464563e-01 2.44826597e-01 1.40854236e-02 1.94559794e+02] [-2.44800345e-01 9.69566881e-01 -3.58533840e-03 -3.78033603e+01] [-1.45345464e-02 2.77419846e-05 9.99894368e-01 -4.07393235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55862385300003 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:194.59, Y:-37.81, Z:-4.07 [[ 9.69204495e-01 2.45865378e-01 1.38875300e-02 1.94591552e+02] [-2.45839927e-01 9.69303985e-01 -3.53758007e-03 -3.78116488e+01] [-1.43310066e-02 1.45291495e-05 9.99897306e-01 -4.07461852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.588623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:194.62, Y:-37.82, Z:-4.08 [[ 9.68715154e-01 2.47777333e-01 1.40478989e-02 1.94623407e+02] [-2.47751452e-01 9.68817007e-01 -3.58115253e-03 -3.78193321e+01] [-1.44971718e-02 -1.12706116e-05 9.99894910e-01 -4.07569754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.618623853 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:194.66, Y:-37.83, Z:-4.08 [[ 9.68509964e-01 2.48575902e-01 1.40879361e-02 1.94655136e+02] [-2.48549919e-01 9.68612420e-01 -3.59411028e-03 -3.78276183e+01] [-1.45391591e-02 -2.06237575e-05 9.99894301e-01 -4.07635959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.648623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:194.69, Y:-37.84, Z:-4.08 [[ 9.68325972e-01 2.49306506e-01 1.38231277e-02 1.94686220e+02] [-2.49281526e-01 9.68424631e-01 -3.52921912e-03 -3.78362077e+01] [-1.42665147e-02 -2.84158472e-05 9.99898228e-01 -4.07702306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.678623853 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:194.72, Y:-37.85, Z:-4.08 [[ 9.68130571e-01 2.50068860e-01 1.37391080e-02 1.94717713e+02] [-2.50044226e-01 9.68228054e-01 -3.51016392e-03 -3.78450510e+01] [-1.41803725e-02 -3.70876175e-05 9.99899453e-01 -4.07745160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.708623853 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:194.75, Y:-37.85, Z:-4.08 [[ 9.67960454e-01 2.50754296e-01 1.32228404e-02 1.94749318e+02] [-2.50731508e-01 9.68050764e-01 -3.38076912e-03 -3.78521614e+01] [-1.36481231e-02 -4.29319035e-05 9.99906859e-01 -4.07825880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.738623853 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:194.78, Y:-37.86, Z:-4.08 [[ 9.67941216e-01 2.50828580e-01 1.32221353e-02 1.94781723e+02] [-2.50805762e-01 9.68031519e-01 -3.38352433e-03 -3.78606015e+01] [-1.36481283e-02 -4.11350553e-05 9.99906859e-01 -4.07890565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.768623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:194.81, Y:-37.87, Z:-4.08 [[ 9.67883529e-01 2.51061340e-01 1.30260169e-02 1.94813607e+02] [-2.51039210e-01 9.67971178e-01 -3.33372930e-03 -3.78682801e+01] [-1.34457795e-02 -4.33793100e-05 9.99909600e-01 -4.07982155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.798623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:194.85, Y:-37.88, Z:-4.08 [[ 9.67839443e-01 2.51223470e-01 1.31749846e-02 1.94845309e+02] [-2.51200810e-01 9.67929112e-01 -3.37447239e-03 -3.78762928e+01] [-1.36001978e-02 -4.36193178e-05 9.99907512e-01 -4.08031119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.828623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:194.88, Y:-37.88, Z:-4.08 [[ 9.67790985e-01 2.51390801e-01 1.35379124e-02 1.94876590e+02] [-2.51366851e-01 9.67885666e-01 -3.47029259e-03 -3.78845633e+01] [-1.39755510e-02 -4.44645160e-05 9.99902336e-01 -4.08046918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.858623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:194.91, Y:-37.89, Z:-4.08 [[ 9.67696725e-01 2.51742706e-01 1.37353290e-02 1.94908196e+02] [-2.51718051e-01 9.67794197e-01 -3.52346725e-03 -3.78920712e+01] [-1.41799789e-02 -4.77825324e-05 9.99899458e-01 -4.08097006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.888623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:194.94, Y:-37.90, Z:-4.08 [[ 9.67663778e-01 2.51838692e-01 1.42858618e-02 1.94939258e+02] [-2.51811988e-01 9.67769224e-01 -3.66767906e-03 -3.78994635e+01] [-1.47490809e-02 -4.82710925e-05 9.99891225e-01 -4.08146376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.918623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:194.97, Y:-37.91, Z:-4.08 [[ 9.67785246e-01 2.51348163e-01 1.46907325e-02 1.94969989e+02] [-2.51319826e-01 9.67896740e-01 -3.77438284e-03 -3.79065159e+01] [-1.51677963e-02 -3.92803108e-05 9.99884962e-01 -4.08179652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94862385300002 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:195.00, Y:-37.91, Z:-4.08 [[ 9.67863125e-01 2.51048330e-01 1.46870020e-02 1.95002393e+02] [-2.51019933e-01 9.67974553e-01 -3.77600043e-03 -3.79141852e+01] [-1.51646028e-02 -3.20786852e-05 9.99885010e-01 -4.08256444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97862385300002 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:195.03, Y:-37.92, Z:-4.08 [[ 9.67952539e-01 2.50700508e-01 1.47355835e-02 1.95034037e+02] [-2.50671838e-01 9.68064696e-01 -3.79140348e-03 -3.79211647e+01] [-1.52155049e-02 -2.38971674e-05 9.99884237e-01 -4.08335455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:195.07, Y:-37.93, Z:-4.08 [[ 9.67967898e-01 2.50626816e-01 1.49782344e-02 1.95066131e+02] [-2.50597143e-01 9.68083777e-01 -3.85656849e-03 -3.79291676e+01] [-1.54667452e-02 -2.04682370e-05 9.99880383e-01 -4.08449917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03862385300002 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:195.10, Y:-37.94, Z:-4.08 [[ 9.68013632e-01 2.50453229e-01 1.49260882e-02 1.95097429e+02] [-2.50423697e-01 9.68128700e-01 -3.84602699e-03 -3.79369939e+01] [-1.54136242e-02 -1.48396348e-05 9.99881203e-01 -4.08490470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06862385300002 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:195.13, Y:-37.94, Z:-4.09 [[ 9.68100459e-01 2.50108667e-01 1.50717144e-02 1.95129658e+02] [-2.50078474e-01 9.68217772e-01 -3.88617840e-03 -3.79447147e+01] [-1.55646686e-02 -6.90023245e-06 9.99878863e-01 -4.08534345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09862385300002 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:195.16, Y:-37.95, Z:-4.09 [[ 9.68081113e-01 2.50166828e-01 1.53465551e-02 1.95161015e+02] [-2.50135479e-01 9.68202746e-01 -3.96030546e-03 -3.79522446e+01] [-1.58493138e-02 -4.82098295e-06 9.99874392e-01 -4.08598959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12862385300002 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:195.19, Y:-37.96, Z:-4.09 [[ 9.68126888e-01 2.49987619e-01 1.53791541e-02 1.95193457e+02] [-2.49956067e-01 9.68249033e-01 -3.97166205e-03 -3.79601311e+01] [-1.58837174e-02 9.59955840e-07 9.99873846e-01 -4.08670038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:195.23, Y:-37.97, Z:-4.09 [[ 9.68306718e-01 2.49335217e-01 1.46304065e-02 1.95226171e+02] [-2.49306549e-01 9.68417239e-01 -3.78092599e-03 -3.79671740e+01] [-1.51110559e-02 1.36398796e-05 9.99885821e-01 -4.08723339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:195.26, Y:-37.97, Z:-4.09 [[ 9.68413470e-01 2.48933693e-01 1.44002796e-02 1.95257712e+02] [-2.48905832e-01 9.68520530e-01 -3.72435581e-03 -3.79745755e+01] [-1.48740840e-02 2.24027757e-05 9.99889374e-01 -4.08794574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21862385300003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:195.29, Y:-37.98, Z:-4.09 [[ 9.68574193e-01 2.48327134e-01 1.40594054e-02 1.95290003e+02] [-2.48300475e-01 9.68676227e-01 -3.63877049e-03 -3.79822101e+01] [-1.45226172e-02 3.34621667e-05 9.99894541e-01 -4.08894021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24862385300003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:195.32, Y:-37.99, Z:-4.09 [[ 9.68989095e-01 2.46699233e-01 1.41287658e-02 1.95322141e+02] [-2.46672100e-01 9.69092093e-01 -3.65932624e-03 -3.79890836e+01] [-1.45948282e-02 6.06748892e-05 9.99893488e-01 -4.08978582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27862385300003 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:195.35, Y:-38.00, Z:-4.09 [[ 9.69221306e-01 2.45770363e-01 1.43870975e-02 1.95354528e+02] [-2.45742085e-01 9.69328078e-01 -3.72900611e-03 -3.79971342e+01] [-1.48622968e-02 7.87168340e-05 9.99889547e-01 -4.09026685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30862385300003 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:195.39, Y:-38.00, Z:-4.09 [[ 9.69458034e-01 2.44804570e-01 1.48943678e-02 1.95385588e+02] [-2.44774099e-01 9.69572438e-01 -3.86367010e-03 -3.80047751e+01] [-1.53870126e-02 9.99105758e-05 9.99881608e-01 -4.09116229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.338623853 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:195.42, Y:-38.01, Z:-4.08 [[ 9.69698524e-01 2.43863566e-01 1.46742784e-02 1.95418106e+02] [-2.43833841e-01 9.69809542e-01 -3.80923360e-03 -3.80116560e+01] [-1.51601885e-02 1.15722528e-04 9.99885071e-01 -4.08380524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.368623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:195.45, Y:-38.02, Z:-4.09 [[ 9.69857643e-01 2.43185009e-01 1.54014226e-02 1.95448478e+02] [-2.43152126e-01 9.69979914e-01 -4.00133110e-03 -3.80211004e+01] [-1.59121343e-02 1.35832895e-04 9.99873385e-01 -4.09180626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.398623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:195.48, Y:-38.03, Z:-4.09 [[ 9.70181515e-01 2.41917659e-01 1.49557143e-02 1.95480398e+02] [-2.41886460e-01 9.70296770e-01 -3.88821130e-03 -3.80288116e+01] [-1.54521082e-02 1.54685954e-04 9.99880597e-01 -4.09290782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.428623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:195.51, Y:-38.04, Z:-4.09 [[ 9.70287173e-01 2.41520263e-01 1.45177336e-02 1.95511826e+02] [-2.41490777e-01 9.70395763e-01 -3.77723245e-03 -3.80364742e+01] [-1.50002253e-02 1.59101431e-04 9.99887478e-01 -4.09378591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.458623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:195.54, Y:-38.04, Z:-4.09 [[ 9.70337126e-01 2.41332033e-01 1.43077356e-02 1.95543606e+02] [-2.41303334e-01 9.70442592e-01 -3.72518726e-03 -3.80447364e+01] [-1.47838430e-02 1.62183184e-04 9.99890700e-01 -4.09488071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.488623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:195.57, Y:-38.05, Z:-4.10 [[ 9.70613171e-01 2.40269998e-01 1.34313089e-02 1.95574985e+02] [-2.40244571e-01 9.70706083e-01 -3.49957414e-03 -3.80523855e+01] [-1.38786960e-02 1.69933706e-04 9.99903672e-01 -4.09558045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.518623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:195.61, Y:-38.06, Z:-4.10 [[ 9.70731678e-01 2.39800396e-01 1.32581647e-02 1.95606035e+02] [-2.39775537e-01 9.70822197e-01 -3.45729871e-03 -3.80605023e+01] [-1.37003822e-02 1.77125811e-04 9.99906130e-01 -4.09624002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.548623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:195.64, Y:-38.07, Z:-4.10 [[ 9.70833524e-01 2.39404276e-01 1.29561605e-02 1.95637348e+02] [-2.39380486e-01 9.70919956e-01 -3.37973763e-03 -3.80692472e+01] [-1.33885184e-02 1.79710596e-04 9.99910354e-01 -4.09654952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.578623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:195.67, Y:-38.08, Z:-4.10 [[ 9.71009251e-01 2.38658855e-01 1.35272407e-02 1.95667710e+02] [-2.38632804e-01 9.71103450e-01 -3.53189397e-03 -3.80780186e+01] [-1.39792679e-02 2.01458328e-04 9.99902265e-01 -4.09654050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.608623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:195.70, Y:-38.09, Z:-4.10 [[ 9.71034436e-01 2.38526113e-01 1.40505094e-02 1.95698403e+02] [-2.38497972e-01 9.71136061e-01 -3.67004560e-03 -3.80865294e+01] [-1.45203581e-02 2.12722660e-04 9.99894551e-01 -4.09720025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.638623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:195.73, Y:-38.09, Z:-4.10 [[ 9.71163181e-01 2.37982229e-01 1.43712829e-02 1.95730031e+02] [-2.37952691e-01 9.71269482e-01 -3.75642489e-03 -3.80949411e+01] [-1.48523509e-02 2.28416121e-04 9.99889672e-01 -4.09768286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.668623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:195.76, Y:-38.10, Z:-4.10 [[ 9.71222204e-01 2.37733217e-01 1.45033571e-02 1.95762015e+02] [-2.37703060e-01 9.71330459e-01 -3.79395699e-03 -3.81037829e+01] [-1.49895021e-02 2.37282907e-04 9.99887623e-01 -4.09785115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69862385300002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:195.79, Y:-38.11, Z:-4.10 [[ 9.71341838e-01 2.37246146e-01 1.44671688e-02 1.95792777e+02] [-2.37216040e-01 9.71449538e-01 -3.78752361e-03 -3.81123851e+01] [-1.49526998e-02 2.47135662e-04 9.99888172e-01 -4.09860623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:195.82, Y:-38.12, Z:-4.10 [[ 9.71575089e-01 2.36288845e-01 1.44716258e-02 1.95824679e+02] [-2.36258573e-01 9.71682825e-01 -3.79143674e-03 -3.81223121e+01] [-1.49577044e-02 2.64619823e-04 9.99888092e-01 -4.09947784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:195.86, Y:-38.13, Z:-4.10 [[ 9.71575566e-01 2.36279570e-01 1.45905518e-02 1.95856330e+02] [-2.36248753e-01 9.71685079e-01 -3.82553597e-03 -3.81318935e+01] [-1.50813174e-02 2.69797612e-04 9.99886234e-01 -4.10059840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78862385300002 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:195.89, Y:-38.14, Z:-4.10 [[ 9.71516970e-01 2.36545349e-01 1.41801119e-02 1.95887192e+02] [-2.36516228e-01 9.71620414e-01 -3.72078715e-03 -3.81421346e+01] [-1.46578211e-02 2.60981270e-04 9.99892534e-01 -4.10125282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81862385300002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:195.92, Y:-38.15, Z:-4.10 [[ 9.71382170e-01 2.37111537e-01 1.39570144e-02 1.95918844e+02] [-2.37083346e-01 9.71482401e-01 -3.66483158e-03 -3.81514268e+01] [-1.44279677e-02 2.50976386e-04 9.99895880e-01 -4.10232389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84862385300002 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:195.95, Y:-38.16, Z:-4.10 [[ 9.71085426e-01 2.38337785e-01 1.37184666e-02 1.95949299e+02] [-2.38310633e-01 9.71182293e-01 -3.60493036e-03 -3.81600339e+01] [-1.41823229e-02 2.31438884e-04 9.99899399e-01 -4.10331808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:195.98, Y:-38.17, Z:-4.10 [[ 9.70756550e-01 2.39678464e-01 1.36365003e-02 1.95981075e+02] [-2.39651734e-01 9.70852300e-01 -3.58580334e-03 -3.81690547e+01] [-1.40984675e-02 2.12931144e-04 9.99900589e-01 -4.10445959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90862385300002 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:196.01, Y:-38.18, Z:-4.11 [[ 9.69867428e-01 2.43291450e-01 1.29012336e-02 1.96011656e+02] [-2.43267810e-01 9.69953219e-01 -3.39496386e-03 -3.81782358e+01] [-1.33395588e-02 1.54210011e-04 9.99911012e-01 -4.10543677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93862385300002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:196.04, Y:-38.19, Z:-4.11 [[ 9.69386075e-01 2.45201580e-01 1.29160234e-02 1.96043560e+02] [-2.45178024e-01 9.69472108e-01 -3.40124425e-03 -3.81868370e+01] [-1.33557149e-02 1.30393727e-04 9.99910800e-01 -4.10612761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96862385300003 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:196.08, Y:-38.19, Z:-4.11 [[ 9.68817162e-01 2.47432217e-01 1.30615784e-02 1.96075038e+02] [-2.47408293e-01 9.68905200e-01 -3.44226702e-03 -3.81949213e+01] [-1.35071590e-02 1.03384548e-04 9.99908769e-01 -4.10655976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:196.11, Y:-38.20, Z:-4.11 [[ 9.68241764e-01 2.49673092e-01 1.30856105e-02 1.96106147e+02] [-2.49649247e-01 9.68330182e-01 -3.45135861e-03 -3.82028650e+01] [-1.35329029e-02 7.49367385e-05 9.99908423e-01 -4.10712757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02862385300003 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:196.14, Y:-38.21, Z:-4.11 [[ 9.67411833e-01 2.52886511e-01 1.27576665e-02 1.96138228e+02] [-2.52864096e-01 9.67495949e-01 -3.36712655e-03 -3.82112542e+01] [-1.31944915e-02 3.14422788e-05 9.99912948e-01 -4.10740953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:196.17, Y:-38.22, Z:-4.11 [[ 9.67048568e-01 2.54274418e-01 1.27116922e-02 1.96170371e+02] [-2.54252251e-01 9.67132111e-01 -3.35755411e-03 -3.82192922e+01] [-1.31476258e-02 1.49415514e-05 9.99913566e-01 -4.10777146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.088623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:196.20, Y:-38.23, Z:-4.11 [[ 9.66698374e-01 2.55607418e-01 1.26135557e-02 1.96201365e+02] [-2.55585670e-01 9.66780662e-01 -3.33426549e-03 -3.82267249e+01] [-1.30468047e-02 -6.15060905e-07 9.99914887e-01 -4.10869524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.118623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:196.23, Y:-38.23, Z:-4.11 [[ 9.66167115e-01 2.57611005e-01 1.25569384e-02 1.96234010e+02] [-2.57589591e-01 9.66248710e-01 -3.32159727e-03 -3.82334419e+01] [-1.29888055e-02 -2.53185862e-05 9.99915642e-01 -4.10946884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.148623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:196.27, Y:-38.24, Z:-4.11 [[ 9.65927942e-01 2.58490832e-01 1.28724884e-02 1.96265281e+02] [-2.58468370e-01 9.66013710e-01 -3.40787595e-03 -3.82413991e+01] [-1.33159050e-02 -3.53684915e-05 9.99911339e-01 -4.11013800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.178623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:196.30, Y:-38.25, Z:-4.11 [[ 9.65744775e-01 2.59168345e-01 1.29922250e-02 1.96296958e+02] [-2.59145491e-01 9.65832163e-01 -3.44202555e-03 -3.82492997e+01] [-1.34403728e-02 -4.27583251e-05 9.99909673e-01 -4.11045204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.208623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:196.33, Y:-38.26, Z:-4.11 [[ 9.65561218e-01 2.59840740e-01 1.32031870e-02 1.96328827e+02] [-2.59817161e-01 9.65651483e-01 -3.50072866e-03 -3.82558136e+01] [-1.36593091e-02 -5.02467419e-05 9.99906706e-01 -4.11067234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.238623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:196.36, Y:-38.26, Z:-4.11 [[ 9.65461287e-01 2.60201098e-01 1.34124110e-02 1.96361185e+02] [-2.60176766e-01 9.65554445e-01 -3.55874350e-03 -3.82629922e+01] [-1.38764020e-02 -5.37686216e-05 9.99903717e-01 -4.11126493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.268623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:196.39, Y:-38.27, Z:-4.11 [[ 9.65414006e-01 2.60394059e-01 1.30663733e-02 1.96393531e+02] [-2.60370950e-01 9.65502424e-01 -3.46943924e-03 -3.82700522e+01] [-1.35190365e-02 -5.26587938e-05 9.99908612e-01 -4.11207246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.298623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:196.42, Y:-38.28, Z:-4.11 [[ 9.65386341e-01 2.60505530e-01 1.28872682e-02 1.96424668e+02] [-2.60483026e-01 9.65472354e-01 -3.42450162e-03 -3.82768057e+01] [-1.33344028e-02 -5.09475350e-05 9.99911092e-01 -4.11270507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.328623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:196.46, Y:-38.28, Z:-4.11 [[ 9.65480777e-01 2.60157265e-01 1.28478633e-02 1.96457663e+02] [-2.60134836e-01 9.65566256e-01 -3.41635344e-03 -3.82823227e+01] [-1.32942524e-02 -4.37532279e-05 9.99911627e-01 -4.11389852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.358623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:196.49, Y:-38.29, Z:-4.11 [[ 9.65544659e-01 2.59914848e-01 1.29531167e-02 1.96489937e+02] [-2.59891994e-01 9.65631540e-01 -3.44695429e-03 -3.82889875e+01] [-1.34038526e-02 -3.82230070e-05 9.99910164e-01 -4.11494670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.388623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:196.52, Y:-38.30, Z:-4.12 [[ 9.65607811e-01 2.59670274e-01 1.31493198e-02 1.96521115e+02] [-2.59646657e-01 9.65697338e-01 -3.50225794e-03 -3.82956661e+01] [-1.36076954e-02 -3.23693072e-05 9.99907411e-01 -4.11553525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.418623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:196.55, Y:-38.30, Z:-4.12 [[ 9.65721937e-01 2.59241010e-01 1.32378268e-02 1.96553108e+02] [-2.59217016e-01 9.65812662e-01 -3.52705597e-03 -3.83027325e+01] [-1.36996183e-02 -2.53146440e-05 9.99906156e-01 -4.11604211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:196.59, Y:-38.31, Z:-4.12 [[ 9.66233776e-01 2.57346338e-01 1.28511712e-02 1.96585036e+02] [-2.57323524e-01 9.66319234e-01 -3.42664937e-03 -3.83083763e+01] [-1.33001696e-02 4.03570335e-06 9.99911549e-01 -4.11628506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:196.62, Y:-38.32, Z:-4.12 [[ 9.66468791e-01 2.56474834e-01 1.25990213e-02 1.96617422e+02] [-2.56452802e-01 9.66550909e-01 -3.36168477e-03 -3.83154603e+01] [-1.30397831e-02 1.79090859e-05 9.99914978e-01 -4.11660541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50862385300002 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:196.65, Y:-38.32, Z:-4.11 [[ 9.66729721e-01 2.55502671e-01 1.23301201e-02 1.96649588e+02] [-2.55481458e-01 9.66808349e-01 -3.29244198e-03 -3.83205096e+01] [-1.27620908e-02 3.27844487e-05 9.99918561e-01 -4.10938944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:196.68, Y:-38.33, Z:-4.12 [[ 9.67334509e-01 2.53140725e-01 1.35543508e-02 1.96681855e+02] [-2.53114820e-01 9.67429464e-01 -3.62219120e-03 -3.83281457e+01] [-1.40298024e-02 7.30634876e-05 9.99901575e-01 -4.11748916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:196.71, Y:-38.34, Z:-4.12 [[ 9.67657528e-01 2.51889999e-01 1.37962494e-02 1.96713505e+02] [-2.51862992e-01 9.67755868e-01 -3.68969635e-03 -3.83358776e+01] [-1.42807990e-02 9.55977786e-05 9.99898020e-01 -4.11793187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59862385300002 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:196.74, Y:-38.34, Z:-4.12 [[ 9.67993538e-01 2.50565381e-01 1.43352524e-02 1.96744861e+02] [-2.50536031e-01 9.68099672e-01 -3.83696327e-03 -3.83433212e+01] [-1.48393633e-02 1.22658414e-04 9.99889883e-01 -4.11804550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:196.78, Y:-38.35, Z:-4.12 [[ 9.68221999e-01 2.49669943e-01 1.45285955e-02 1.96776687e+02] [-2.49639654e-01 9.68330987e-01 -3.89144723e-03 -3.83505104e+01] [-1.50400666e-02 1.40871260e-04 9.99886882e-01 -4.11862597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:196.81, Y:-38.36, Z:-4.12 [[ 9.68201367e-01 2.49749992e-01 1.45277479e-02 1.96808997e+02] [-2.49719664e-01 9.68310343e-01 -3.89460869e-03 -3.83593165e+01] [-1.50400471e-02 1.42901121e-04 9.99886882e-01 -4.11927277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68862385300002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:196.84, Y:-38.37, Z:-4.12 [[ 9.68657238e-01 2.47981102e-01 1.44405068e-02 1.96841884e+02] [-2.47950930e-01 9.68764855e-01 -3.87198372e-03 -3.83654655e+01] [-1.49496343e-02 1.70087964e-04 9.99888234e-01 -4.11979903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:196.87, Y:-38.37, Z:-4.12 [[ 9.68767205e-01 2.47533835e-01 1.47343965e-02 1.96872890e+02] [-2.47502321e-01 9.68879232e-01 -3.95400292e-03 -3.83730329e+01] [-1.52546003e-02 1.83711032e-04 9.99883625e-01 -4.12066133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:196.91, Y:-38.38, Z:-4.12 [[ 9.68892757e-01 2.47047164e-01 1.46466516e-02 1.96905090e+02] [-2.47015927e-01 9.69003437e-01 -3.93328964e-03 -3.83809739e+01] [-1.51643638e-02 1.92979618e-04 9.99884996e-01 -4.12102350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:196.94, Y:-38.39, Z:-4.12 [[ 9.69094687e-01 2.46257987e-01 1.45770751e-02 1.96937728e+02] [-2.46226913e-01 9.69204293e-01 -3.91743848e-03 -3.83883583e+01] [-1.50928642e-02 2.07100624e-04 9.99886075e-01 -4.12178514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:196.97, Y:-38.40, Z:-4.12 [[ 9.69115325e-01 2.46194284e-01 1.42779793e-02 1.96968635e+02] [-2.46164418e-01 9.69220476e-01 -3.84023355e-03 -3.83964615e+01] [-1.47839534e-02 2.06898727e-04 9.99890690e-01 -4.12194620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.838623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:197.00, Y:-38.40, Z:-4.12 [[ 9.69118884e-01 2.46176376e-01 1.43450232e-02 1.96999589e+02] [-2.46146204e-01 9.69225024e-01 -3.85986405e-03 -3.84042523e+01] [-1.48537628e-02 2.09694127e-04 9.99889655e-01 -4.12249790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.868623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:197.03, Y:-38.41, Z:-4.12 [[ 9.69114917e-01 2.46178819e-01 1.45693745e-02 1.97031704e+02] [-2.46147656e-01 9.69224403e-01 -3.92286461e-03 -3.84110899e+01] [-1.50867194e-02 2.15489237e-04 9.99886166e-01 -4.12299469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.898623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:197.06, Y:-38.42, Z:-4.12 [[ 9.69163451e-01 2.45977602e-01 1.47385467e-02 1.97063000e+02] [-2.45945637e-01 9.69275487e-01 -3.97174256e-03 -3.84187129e+01] [-1.52626717e-02 2.24386462e-04 9.99883493e-01 -4.12385350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.928623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:197.10, Y:-38.43, Z:-4.12 [[ 9.69211015e-01 2.45788388e-01 1.47674552e-02 1.97095262e+02] [-2.45756252e-01 9.69323484e-01 -3.98107967e-03 -3.84272210e+01] [-1.52929442e-02 2.29311839e-04 9.99883030e-01 -4.12441923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.958623853 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:197.13, Y:-38.43, Z:-4.12 [[ 9.69251482e-01 2.45676002e-01 1.39594736e-02 1.97127137e+02] [-2.45647235e-01 9.69351976e-01 -3.76603783e-03 -3.84341547e+01] [-1.44568684e-02 2.21131669e-04 9.99895470e-01 -4.11656119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.988623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:197.16, Y:-38.44, Z:-4.13 [[ 9.69400793e-01 2.45094144e-01 1.38189431e-02 1.97157837e+02] [-2.45065857e-01 9.69499256e-01 -3.73072775e-03 -3.84446492e+01] [-1.43118346e-02 2.30019306e-04 9.99897554e-01 -4.12579979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.018623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:197.19, Y:-38.45, Z:-4.12 [[ 9.69465173e-01 2.44857510e-01 1.34936699e-02 1.97188945e+02] [-2.44830477e-01 9.69559048e-01 -3.64569222e-03 -3.84520309e+01] [-1.39755848e-02 2.30710006e-04 9.99902310e-01 -4.12118926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.048623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:197.22, Y:-38.46, Z:-4.13 [[ 9.69463071e-01 2.44841887e-01 1.39213746e-02 1.97219689e+02] [-2.44813070e-01 9.69562990e-01 -3.76407939e-03 -3.84618298e+01] [-1.44192539e-02 2.41001511e-04 9.99896008e-01 -4.12724070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.078623853 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:197.25, Y:-38.47, Z:-4.12 [[ 9.69382599e-01 2.45185294e-01 1.34739762e-02 1.97252653e+02] [-2.45158300e-01 9.69476208e-01 -3.64546500e-03 -3.84686699e+01] [-1.39565137e-02 2.30593237e-04 9.99902577e-01 -4.11859815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.108623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:197.28, Y:-38.48, Z:-4.13 [[ 9.69286444e-01 2.45513704e-01 1.43808989e-02 1.97283296e+02] [-2.45482937e-01 9.69393089e-01 -3.89438387e-03 -3.84784512e+01] [-1.48968687e-02 2.44508181e-04 9.99889006e-01 -4.12791209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.138623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:197.32, Y:-38.49, Z:-4.13 [[ 9.69123043e-01 2.46145486e-01 1.45920316e-02 1.97315448e+02] [-2.46113857e-01 9.69232863e-01 -3.95316822e-03 -3.84870891e+01] [-1.51161311e-02 2.39805241e-04 9.99885716e-01 -4.12830869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.168623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:197.35, Y:-38.50, Z:-4.13 [[ 9.68940916e-01 2.46853407e-01 1.47274035e-02 1.97347112e+02] [-2.46821224e-01 9.69052806e-01 -3.99276928e-03 -3.84961080e+01] [-1.52572604e-02 2.33721755e-04 9.99883574e-01 -4.12924551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.38, Y:-38.51, Z:-4.13 [[ 9.68862390e-01 2.47167941e-01 1.46177284e-02 1.97377593e+02] [-2.47136220e-01 9.68972629e-01 -3.96643997e-03 -3.85050549e+01] [-1.51445555e-02 2.30364365e-04 9.99885288e-01 -4.12948434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:197.41, Y:-38.51, Z:-4.13 [[ 9.68862335e-01 2.47180014e-01 1.44158418e-02 1.97407947e+02] [-2.47149136e-01 9.68969550e-01 -3.91355602e-03 -3.85136148e+01] [-1.49358646e-02 2.28834163e-04 9.99888428e-01 -4.12980467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25862385300002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:197.44, Y:-38.52, Z:-4.13 [[ 9.68843200e-01 2.47274966e-01 1.40693029e-02 1.97439689e+02] [-2.47245545e-01 9.68945324e-01 -3.82090313e-03 -3.85235684e+01] [-1.45771990e-02 2.23283547e-04 9.99893722e-01 -4.13123222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:197.47, Y:-38.53, Z:-4.13 [[ 9.68850157e-01 2.47267353e-01 1.37196554e-02 1.97470422e+02] [-2.47239335e-01 9.68947268e-01 -3.72874008e-03 -3.85323573e+01] [-1.42156183e-02 2.20551929e-04 9.99898929e-01 -4.13168187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31862385300002 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:197.50, Y:-38.54, Z:-4.12 [[ 9.68882867e-01 2.47184917e-01 1.28688088e-02 1.97502772e+02] [-2.47160231e-01 9.68968303e-01 -3.49968352e-03 -3.85397095e+01] [-1.33345368e-02 2.10125657e-04 9.99911069e-01 -4.12407640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:197.53, Y:-38.55, Z:-4.13 [[ 9.68855516e-01 2.47285831e-01 1.29887237e-02 1.97533996e+02] [-2.47260655e-01 9.68942554e-01 -3.53494895e-03 -3.85508558e+01] [-1.34594699e-02 2.13254456e-04 9.99909394e-01 -4.13366458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.56, Y:-38.56, Z:-4.13 [[ 9.69042738e-01 2.46559832e-01 1.28226766e-02 1.97564236e+02] [-2.46535198e-01 9.69127546e-01 -3.49237849e-03 -3.85616364e+01] [-1.32878893e-02 2.23022904e-04 9.99911687e-01 -4.13453232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:197.60, Y:-38.57, Z:-4.13 [[ 9.69066396e-01 2.46455892e-01 1.30312184e-02 1.97595758e+02] [-2.46430408e-01 9.69153982e-01 -3.55158535e-03 -3.85719522e+01] [-1.35045663e-02 2.30433563e-04 9.99908783e-01 -4.13475520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:197.63, Y:-38.58, Z:-4.14 [[ 9.69111546e-01 2.46266938e-01 1.32441117e-02 1.97626576e+02] [-2.46240552e-01 9.69202011e-01 -3.61284870e-03 -3.85815671e+01] [-1.37259449e-02 2.40016017e-04 9.99905766e-01 -4.13548145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:197.66, Y:-38.59, Z:-4.14 [[ 9.69026484e-01 2.46538753e-01 1.43637364e-02 1.97657877e+02] [-2.46507721e-01 9.69132900e-01 -3.92000872e-03 -3.85925421e+01] [-1.48868035e-02 2.57820351e-04 9.99889152e-01 -4.13530362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:197.69, Y:-38.60, Z:-4.14 [[ 9.68906449e-01 2.46992208e-01 1.46677292e-02 1.97688740e+02] [-2.46959853e-01 9.69017431e-01 -4.00611864e-03 -3.86019501e+01] [-1.52027654e-02 2.59213934e-04 9.99884398e-01 -4.13551613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:197.72, Y:-38.61, Z:-4.14 [[ 9.68753313e-01 2.47602577e-01 1.44908037e-02 1.97720016e+02] [-2.47571025e-01 9.68861653e-01 -3.96049232e-03 -3.86118887e+01] [-1.50202121e-02 2.49236931e-04 9.99887159e-01 -4.13622325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:197.75, Y:-38.62, Z:-4.14 [[ 9.68555038e-01 2.48374826e-01 1.45287410e-02 1.97751977e+02] [-2.48343153e-01 9.68663971e-01 -3.97372610e-03 -3.86218936e+01] [-1.50604415e-02 2.40659085e-04 9.99886556e-01 -4.13690221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.588623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:197.78, Y:-38.63, Z:-4.14 [[ 9.68196217e-01 2.49768276e-01 1.45565984e-02 1.97781842e+02] [-2.49736593e-01 9.68305612e-01 -3.98435654e-03 -3.86331614e+01] [-1.50904018e-02 2.22323631e-04 9.99886109e-01 -4.13755310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.618623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.81, Y:-38.64, Z:-4.14 [[ 9.68016057e-01 2.50476535e-01 1.43672637e-02 1.97813474e+02] [-2.50445710e-01 9.68122648e-01 -3.93515851e-03 -3.86430395e+01] [-1.48949383e-02 2.11077058e-04 9.99889042e-01 -4.13812615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:197.85, Y:-38.65, Z:-4.14 [[ 9.67856632e-01 2.51091271e-01 1.43775207e-02 1.97845121e+02] [-2.51060427e-01 9.67963394e-01 -3.94088866e-03 -3.86528832e+01] [-1.49064365e-02 2.04588740e-04 9.99888872e-01 -4.13899003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.678623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:197.87, Y:-38.66, Z:-4.14 [[ 9.67659086e-01 2.51879156e-01 1.38846965e-02 1.97874844e+02] [-2.51850431e-01 9.67758676e-01 -3.80856233e-03 -3.86640764e+01] [-1.43963330e-02 1.88523140e-04 9.99896350e-01 -4.13932668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.708623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:197.91, Y:-38.67, Z:-4.14 [[ 9.67444160e-01 2.52715046e-01 1.36712077e-02 1.97905754e+02] [-2.52687247e-01 9.67540735e-01 -3.75246334e-03 -3.86743682e+01] [-1.41757543e-02 1.75758908e-04 9.99899503e-01 -4.14004651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.738623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:197.94, Y:-38.68, Z:-4.14 [[ 9.67242210e-01 2.53499893e-01 1.34279824e-02 1.97936287e+02] [-2.53473110e-01 9.67335401e-01 -3.68850296e-03 -3.86838600e+01] [-1.39243978e-02 1.64043295e-04 9.99903037e-01 -4.14004992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.768623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:197.97, Y:-38.69, Z:-4.14 [[ 9.66970536e-01 2.54516801e-01 1.37543263e-02 1.97967066e+02] [-2.54488764e-01 9.67068340e-01 -3.78090675e-03 -3.86930842e+01] [-1.42636778e-02 1.55703925e-04 9.99898256e-01 -4.14097824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.798623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:198.00, Y:-38.70, Z:-4.14 [[ 9.66643258e-01 2.55741772e-01 1.40341387e-02 1.97998957e+02] [-2.55712672e-01 9.66745119e-01 -3.86050141e-03 -3.87028404e+01] [-1.45547266e-02 1.43020543e-04 9.99894064e-01 -4.14136205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.828623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:198.03, Y:-38.71, Z:-4.14 [[ 9.65973133e-01 2.58254933e-01 1.41525831e-02 1.98029232e+02] [-2.58225565e-01 9.66076797e-01 -3.89612663e-03 -3.87131290e+01] [-1.46786761e-02 1.08994878e-04 9.99892256e-01 -4.14159582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.858623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:198.06, Y:-38.72, Z:-4.14 [[ 9.65606319e-01 2.59625451e-01 1.41089472e-02 1.98059953e+02] [-2.59596371e-01 9.65709385e-01 -3.88685533e-03 -3.87224600e+01] [-1.46342693e-02 9.05405821e-05 9.99892909e-01 -4.14215900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:198.09, Y:-38.73, Z:-4.14 [[ 9.65299762e-01 2.60780490e-01 1.37806157e-02 1.98091356e+02] [-2.60752829e-01 9.65398120e-01 -3.79886012e-03 -3.87317580e+01] [-1.42944491e-02 7.37042258e-05 9.99897826e-01 -4.14266061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.918623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:198.12, Y:-38.74, Z:-4.14 [[ 9.65026284e-01 2.61806252e-01 1.34817497e-02 1.98122126e+02] [-2.61779840e-01 9.65120450e-01 -3.71923557e-03 -3.87412635e+01] [-1.39852314e-02 5.99098072e-05 9.99902200e-01 -4.14374990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:198.15, Y:-38.75, Z:-4.14 [[ 9.64621729e-01 2.63299065e-01 1.33612003e-02 1.98153329e+02] [-2.63273232e-01 9.64714259e-01 -3.68843410e-03 -3.87516782e+01] [-1.38609017e-02 4.02972889e-05 9.99903932e-01 -4.14435384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:198.18, Y:-38.76, Z:-4.14 [[ 9.64394499e-01 2.64133476e-01 1.32949954e-02 1.98183991e+02] [-2.64107939e-01 9.64486136e-01 -3.67295546e-03 -3.87612237e+01] [-1.37929893e-02 3.08641996e-05 9.99904872e-01 -4.14496994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00862385300002 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:198.21, Y:-38.77, Z:-4.15 [[ 9.64196133e-01 2.64846469e-01 1.34968833e-02 1.98214582e+02] [-2.64820183e-01 9.64290593e-01 -3.73138301e-03 -3.87705721e+01] [-1.40031612e-02 2.35379672e-05 9.99901951e-01 -4.14575748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03862385300002 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:198.24, Y:-38.78, Z:-4.15 [[ 9.63969964e-01 2.65643619e-01 1.39777254e-02 1.98244720e+02] [-2.65615469e-01 9.64071298e-01 -3.86715405e-03 -3.87800301e+01] [-1.45028086e-02 1.51202688e-05 9.99894829e-01 -4.14649294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:198.28, Y:-38.79, Z:-4.15 [[ 9.63460164e-01 2.67479225e-01 1.41200564e-02 1.98276115e+02] [-2.67450660e-01 9.63563627e-01 -3.90902124e-03 -3.87909904e+01] [-1.46511547e-02 -1.02321451e-05 9.99892666e-01 -4.14682037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:198.31, Y:-38.80, Z:-4.15 [[ 9.63122863e-01 2.68683982e-01 1.42572172e-02 1.98306429e+02] [-2.68654947e-01 9.63228383e-01 -3.94997662e-03 -3.88003237e+01] [-1.47942517e-02 -2.59591295e-05 9.99890559e-01 -4.14754799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:198.34, Y:-38.81, Z:-4.15 [[ 9.62783259e-01 2.69907967e-01 1.40743061e-02 1.98337631e+02] [-2.69879766e-01 9.62886124e-01 -3.90184193e-03 -3.88094031e+01] [-1.46050923e-02 -4.17423430e-05 9.99893339e-01 -4.14804026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:198.37, Y:-38.82, Z:-4.15 [[ 9.62123079e-01 2.72292550e-01 1.32645348e-02 1.98369220e+02] [-2.72267694e-01 9.62214510e-01 -3.67977259e-03 -3.88187345e+01] [-1.37653025e-02 -7.11101619e-05 9.99905251e-01 -4.14881483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:198.40, Y:-38.83, Z:-4.15 [[ 9.61859180e-01 2.73240113e-01 1.29134895e-02 1.98400068e+02] [-2.73216605e-01 9.61945858e-01 -3.58505206e-03 -3.88271900e+01] [-1.34016578e-02 -7.98645286e-05 9.99910191e-01 -4.14934344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21862385300003 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:198.43, Y:-38.84, Z:-4.15 [[ 9.61554767e-01 2.74290505e-01 1.33097241e-02 1.98431623e+02] [-2.74265596e-01 9.61646874e-01 -3.69769422e-03 -3.88361247e+01] [-1.38134970e-02 -9.48639203e-05 9.99904585e-01 -4.15030993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24862385300003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:198.46, Y:-38.84, Z:-4.15 [[ 9.61277476e-01 2.75268365e-01 1.31507406e-02 1.98462483e+02] [-2.75244103e-01 9.61367420e-01 -3.65619484e-03 -3.88444819e+01] [-1.36491283e-02 -1.05046044e-04 9.99906841e-01 -4.15072403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:198.49, Y:-38.85, Z:-4.15 [[ 9.60753905e-01 2.77103193e-01 1.28745613e-02 1.98493775e+02] [-2.77080072e-01 9.60840156e-01 -3.58179212e-03 -3.88529965e+01] [-1.33629215e-02 -1.26063609e-04 9.99910704e-01 -4.15149834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30862385300003 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:198.53, Y:-38.86, Z:-4.15 [[ 9.60525045e-01 2.77900804e-01 1.27585849e-02 1.98526001e+02] [-2.77878138e-01 9.60609768e-01 -3.55172796e-03 -3.88616096e+01] [-1.32430493e-02 -1.33808151e-04 9.99912298e-01 -4.15189962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.338623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:198.56, Y:-38.87, Z:-4.15 [[ 9.60226774e-01 2.78929486e-01 1.27626003e-02 1.98557562e+02] [-2.78906866e-01 9.60311575e-01 -3.55522103e-03 -3.88697993e+01] [-1.32477287e-02 -1.45758416e-04 9.99912234e-01 -4.15291399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.368623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:198.59, Y:-38.88, Z:-4.15 [[ 9.60005256e-01 2.79698246e-01 1.26016106e-02 1.98588328e+02] [-2.79676224e-01 9.60087948e-01 -3.51304702e-03 -3.88776207e+01] [-1.30812476e-02 -1.51827266e-04 9.99914425e-01 -4.15346170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.398623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:198.62, Y:-38.88, Z:-4.15 [[ 9.59770878e-01 2.80500232e-01 1.26285889e-02 1.98620788e+02] [-2.80478153e-01 9.59853944e-01 -3.52297874e-03 -3.88847941e+01] [-1.31097972e-02 -1.60790898e-04 9.99914050e-01 -4.15378506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.428623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:198.65, Y:-38.89, Z:-4.15 [[ 9.59766572e-01 2.80498276e-01 1.29940256e-02 1.98652152e+02] [-2.80474862e-01 9.59854516e-01 -3.62779526e-03 -3.88925484e+01] [-1.34899645e-02 -1.62660922e-04 9.99908993e-01 -4.15419816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.458623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:198.68, Y:-38.90, Z:-4.15 [[ 9.59863378e-01 2.80158201e-01 1.31786992e-02 1.98682745e+02] [-2.80134050e-01 9.59953831e-01 -3.68196291e-03 -3.89002231e+01] [-1.36824749e-02 -1.57621019e-04 9.99906378e-01 -4.15475287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.488623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:198.72, Y:-38.91, Z:-4.15 [[ 9.60154542e-01 2.79161836e-01 1.31120107e-02 1.98715339e+02] [-2.79137803e-01 9.60244057e-01 -3.66570777e-03 -3.89075997e+01] [-1.36140560e-02 -1.40411877e-04 9.99907315e-01 -4.15087401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.75, Y:-38.92, Z:-4.16 [[ 9.60375235e-01 2.78389843e-01 1.33605090e-02 1.98747347e+02] [-2.78364779e-01 9.60468156e-01 -3.73787853e-03 -3.89165333e+01] [-1.38729308e-02 -1.29329144e-04 9.99903758e-01 -4.15527947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.78, Y:-38.93, Z:-4.16 [[ 9.60352213e-01 2.78469292e-01 1.33596501e-02 1.98779557e+02] [-2.78444192e-01 9.60445124e-01 -3.74094523e-03 -3.89256923e+01] [-1.38729492e-02 -1.27291964e-04 9.99903758e-01 -4.15592630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.81, Y:-38.93, Z:-4.16 [[ 9.60567429e-01 2.77716267e-01 1.35605978e-02 1.98810167e+02] [-2.77690321e-01 9.60663136e-01 -3.79794377e-03 -3.89333362e+01] [-1.40819172e-02 -1.17465679e-04 9.99900838e-01 -4.15613593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.608623853 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:198.84, Y:-38.94, Z:-4.16 [[ 9.60819117e-01 2.76841624e-01 1.36139609e-02 1.98841562e+02] [-2.76815349e-01 9.60915555e-01 -3.81549418e-03 -3.89409954e+01] [-1.41381544e-02 -1.02553577e-04 9.99900046e-01 -4.15670921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.87, Y:-38.95, Z:-4.16 [[ 9.61474218e-01 2.74560974e-01 1.35499325e-02 1.98873619e+02] [-2.74534684e-01 9.61569689e-01 -3.80001323e-03 -3.89491932e+01] [-1.40725397e-02 -6.63116918e-05 9.99900975e-01 -4.15719142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.90, Y:-38.96, Z:-4.16 [[ 9.61840857e-01 2.73264255e-01 1.37409088e-02 1.98904564e+02] [-2.73237046e-01 9.61939003e-01 -3.85646019e-03 -3.89582207e+01] [-1.42717489e-02 -4.52243624e-05 9.99898152e-01 -4.15782516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.94, Y:-38.97, Z:-4.16 [[ 9.62255566e-01 2.71793088e-01 1.38831890e-02 1.98936770e+02] [-2.71765121e-01 9.62355712e-01 -3.89898428e-03 -3.89673128e+01] [-1.44202832e-02 -2.11472092e-05 9.99896022e-01 -4.15827527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:198.97, Y:-38.98, Z:-4.16 [[ 9.63126991e-01 2.68697776e-01 1.37078552e-02 1.98967959e+02] [-2.68670157e-01 9.63224535e-01 -3.85254542e-03 -3.89756380e+01] [-1.42389128e-02 2.75988680e-05 9.99898621e-01 -4.15889999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.00, Y:-38.99, Z:-4.16 [[ 9.63605203e-01 2.66968473e-01 1.38869443e-02 1.99000057e+02] [-2.66939910e-01 9.63705262e-01 -3.90550292e-03 -3.89850229e+01] [-1.44255675e-02 5.63832587e-05 9.99895944e-01 -4.15986140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78862385300002 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:199.03, Y:-38.99, Z:-4.16 [[ 9.64106854e-01 2.65131161e-01 1.42632841e-02 1.99030529e+02] [-2.65100783e-01 9.64212352e-01 -4.01437519e-03 -3.89941477e+01] [-1.48171706e-02 8.90788505e-05 9.99890216e-01 -4.16028245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:199.06, Y:-39.00, Z:-4.16 [[ 9.64592460e-01 2.63338354e-01 1.46389420e-02 1.99061838e+02] [-2.63306105e-01 9.64703528e-01 -4.12292388e-03 -3.90041899e+01] [-1.52079630e-02 1.22418492e-04 9.99884345e-01 -4.16046281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.09, Y:-39.02, Z:-4.16 [[ 9.65512300e-01 2.59937612e-01 1.47795781e-02 1.99092709e+02] [-2.59904297e-01 9.65625396e-01 -4.16547860e-03 -3.90154328e+01] [-1.53543005e-02 1.80544977e-04 9.99882099e-01 -4.16016069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.12, Y:-39.03, Z:-4.16 [[ 9.65931234e-01 2.58382907e-01 1.46671278e-02 1.99123585e+02] [-2.58349873e-01 9.66042562e-01 -4.13668598e-03 -3.90256946e+01] [-1.52379186e-02 2.06503589e-04 9.99883875e-01 -4.16075320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.15, Y:-39.04, Z:-4.16 [[ 9.66297229e-01 2.57017954e-01 1.45408342e-02 1.99154341e+02] [-2.56985289e-01 9.66406601e-01 -4.10393194e-03 -3.90364734e+01] [-1.51071424e-02 2.28837565e-04 9.99885854e-01 -4.16225356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.18, Y:-39.05, Z:-4.16 [[ 9.66817972e-01 2.55112655e-01 1.34366058e-02 1.99184207e+02] [-2.55084541e-01 9.66911307e-01 -3.79506380e-03 -3.90479731e+01] [-1.39601749e-02 2.41665471e-04 9.99902523e-01 -4.16313751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:199.22, Y:-39.06, Z:-4.16 [[ 9.66934096e-01 2.54691875e-01 1.30576873e-02 1.99215077e+02] [-2.54665270e-01 9.67022228e-01 -3.68919728e-03 -3.90585137e+01] [-1.35666824e-02 2.41871186e-04 9.99907939e-01 -4.16381093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:199.25, Y:-39.07, Z:-4.16 [[ 9.67058476e-01 2.54226165e-01 1.29213733e-02 1.99246276e+02] [-2.54200037e-01 9.67144764e-01 -3.65319339e-03 -3.90694225e+01] [-1.34255759e-02 2.48238055e-04 9.99909842e-01 -4.16427123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.28, Y:-39.08, Z:-4.17 [[ 9.67043166e-01 2.54280946e-01 1.29890353e-02 1.99277030e+02] [-2.54254514e-01 9.67130362e-01 -3.67491384e-03 -3.90808562e+01] [-1.34965509e-02 2.51279475e-04 9.99908886e-01 -4.16517674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.31, Y:-39.09, Z:-4.17 [[ 9.67036822e-01 2.54316374e-01 1.27658226e-02 1.99306603e+02] [-2.54290812e-01 9.67121047e-01 -3.61426752e-03 -3.90941177e+01] [-1.32652631e-02 2.48898379e-04 9.99911982e-01 -4.16534761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.34, Y:-39.10, Z:-4.17 [[ 9.66954828e-01 2.54629372e-01 1.27374546e-02 1.99336516e+02] [-2.54603920e-01 9.67038687e-01 -3.60856463e-03 -3.91049164e+01] [-1.32364579e-02 2.46313115e-04 9.99912364e-01 -4.16545615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.118623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:199.37, Y:-39.12, Z:-4.16 [[ 9.66685859e-01 2.55661215e-01 1.24817056e-02 1.99367523e+02] [-2.55636833e-01 9.66766410e-01 -3.53823138e-03 -3.91158767e+01] [-1.29714822e-02 2.29574561e-04 9.99915840e-01 -4.15641773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.148623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:199.40, Y:-39.13, Z:-4.17 [[ 9.66634957e-01 2.55844243e-01 1.26721609e-02 1.99398203e+02] [-2.55819094e-01 9.66717988e-01 -3.59471833e-03 -3.91286926e+01] [-1.31700939e-02 2.32999660e-04 9.99913243e-01 -4.16589337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.43, Y:-39.14, Z:-4.17 [[ 9.66193707e-01 2.57529773e-01 1.21711713e-02 1.99427725e+02] [-2.57506678e-01 9.66270342e-01 -3.45487875e-03 -3.91425506e+01] [-1.26503760e-02 2.03924221e-04 9.99919960e-01 -4.16644951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.46, Y:-39.15, Z:-4.17 [[ 9.65880324e-01 2.58705856e-01 1.21028390e-02 1.99458293e+02] [-2.58683085e-01 9.65956129e-01 -3.43764500e-03 -3.91536343e+01] [-1.25801504e-02 1.89553926e-04 9.99920849e-01 -4.16676413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.238623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.49, Y:-39.17, Z:-4.17 [[ 9.65335704e-01 2.60706885e-01 1.26055300e-02 1.99487566e+02] [-2.60682323e-01 9.65417987e-01 -3.58279952e-03 -3.91667630e+01] [-1.31036660e-02 1.72565445e-04 9.99914128e-01 -4.16674322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.268623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:199.52, Y:-39.18, Z:-4.17 [[ 9.65038844e-01 2.61796527e-01 1.27518303e-02 1.99518757e+02] [-2.61771456e-01 9.65123076e-01 -3.62660457e-03 -3.91782138e+01] [-1.32565182e-02 1.61749083e-04 9.99912115e-01 -4.16767357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.298623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.55, Y:-39.19, Z:-4.17 [[ 9.64692913e-01 2.63070874e-01 1.27003418e-02 1.99549406e+02] [-2.63046086e-01 9.64776499e-01 -3.61424042e-03 -3.91899870e+01] [-1.32037927e-02 1.45856903e-04 9.99912815e-01 -4.16839036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.58, Y:-39.20, Z:-4.17 [[ 9.64405405e-01 2.64121727e-01 1.27251177e-02 1.99580817e+02] [-2.64096900e-01 9.64489344e-01 -3.62383585e-03 -3.92017631e+01] [-1.32303743e-02 1.34182729e-04 9.99912466e-01 -4.16862963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.61, Y:-39.21, Z:-4.17 [[ 9.64073048e-01 2.65337296e-01 1.26205297e-02 1.99610845e+02] [-2.65312946e-01 9.64155644e-01 -3.59661734e-03 -3.92131625e+01] [-1.31224717e-02 1.19011926e-04 9.99913890e-01 -4.16907973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.388623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:199.64, Y:-39.23, Z:-4.17 [[ 9.63480700e-01 2.67487841e-01 1.24577603e-02 1.99640386e+02] [-2.67464264e-01 9.63561231e-01 -3.55257899e-03 -3.92261923e+01] [-1.29540866e-02 9.08355858e-05 9.99916088e-01 -4.16949350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:199.67, Y:-39.24, Z:-4.17 [[ 9.63148852e-01 2.68682494e-01 1.24099405e-02 1.99671700e+02] [-2.68659171e-01 9.63228795e-01 -3.54092482e-03 -3.92374103e+01] [-1.29049965e-02 7.63933490e-05 9.99916724e-01 -4.16999312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:199.70, Y:-39.25, Z:-4.17 [[ 9.62843056e-01 2.69780195e-01 1.23246136e-02 1.99702395e+02] [-2.69757252e-01 9.62921929e-01 -3.51895553e-03 -3.92486783e+01] [-1.28169852e-02 6.35480003e-05 9.99917857e-01 -4.17073956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:199.73, Y:-39.26, Z:-4.17 [[ 9.62542721e-01 2.70852131e-01 1.22732634e-02 1.99732660e+02] [-2.70829434e-01 9.62620964e-01 -3.50674226e-03 -3.92599700e+01] [-1.27643092e-02 5.14282642e-05 9.99918532e-01 -4.17160389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:199.76, Y:-39.27, Z:-4.17 [[ 9.62005078e-01 2.72769302e-01 1.19640479e-02 1.99761931e+02] [-2.72747856e-01 9.62079470e-01 -3.42056073e-03 -3.92740498e+01] [-1.24433888e-02 2.74283755e-05 9.99922578e-01 -4.17204672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:-39.29, Z:-4.17 [[ 9.61713906e-01 2.73819874e-01 1.13595938e-02 1.99792714e+02] [-2.73800594e-01 9.61780992e-01 -3.24934093e-03 -3.92857506e+01] [-1.18151755e-02 1.46728201e-05 9.99930198e-01 -4.17219152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.82, Y:-39.30, Z:-4.17 [[ 9.61444361e-01 2.74776277e-01 1.10787406e-02 1.99823175e+02] [-2.74757978e-01 9.61508189e-01 -3.17113342e-03 -3.92965393e+01] [-1.15236521e-02 4.89596796e-06 9.99933601e-01 -4.17342182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:199.85, Y:-39.31, Z:-4.17 [[ 9.61122944e-01 2.75914819e-01 1.06629549e-02 1.99854614e+02] [-2.75897919e-01 9.61182091e-01 -3.05380949e-03 -3.93071565e+01] [-1.10916326e-02 -6.80070254e-06 9.99938486e-01 -4.17375907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:199.88, Y:-39.32, Z:-4.17 [[ 9.60468297e-01 2.78169704e-01 1.10573660e-02 1.99884371e+02] [-2.78151653e-01 9.60531944e-01 -3.16909174e-03 -3.93193967e+01] [-1.15024985e-02 -3.18124763e-05 9.99933844e-01 -4.17391858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:199.92, Y:-39.33, Z:-4.17 [[ 9.60108289e-01 2.79389827e-01 1.15498283e-02 1.99915481e+02] [-2.79370195e-01 9.60177756e-01 -3.31233342e-03 -3.93304869e+01] [-1.20153205e-02 -4.64790081e-05 9.99927812e-01 -4.17457215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68862385300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:199.95, Y:-39.34, Z:-4.17 [[ 9.59843937e-01 2.80287667e-01 1.17660574e-02 1.99946987e+02] [-2.80267335e-01 9.59916049e-01 -3.37642816e-03 -3.93415342e+01] [-1.22407985e-02 -5.67974447e-05 9.99925077e-01 -4.17487457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.98, Y:-39.35, Z:-4.18 [[ 9.59494876e-01 2.81475201e-01 1.18867257e-02 1.99977316e+02] [-2.81454508e-01 9.59568500e-01 -3.41374067e-03 -3.93528534e+01] [-1.23670109e-02 -7.01058646e-05 9.99923523e-01 -4.17524467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:200.01, Y:-39.37, Z:-4.18 [[ 9.58989957e-01 2.83175312e-01 1.22476211e-02 2.00006579e+02] [-2.83153448e-01 9.59068159e-01 -3.52002429e-03 -3.93653815e+01] [-1.27430874e-02 -9.22881903e-05 9.99918799e-01 -4.17545097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.04, Y:-39.38, Z:-4.18 [[ 9.58738955e-01 2.84033761e-01 1.20182907e-02 2.00037820e+02] [-2.84012749e-01 9.58814274e-01 -3.45624280e-03 -3.93756927e+01] [-1.25049983e-02 -9.97131779e-05 9.99921804e-01 -4.17608210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.07, Y:-39.39, Z:-4.18 [[ 9.58501475e-01 2.84845338e-01 1.17497193e-02 2.00069578e+02] [-2.84825288e-01 9.58573483e-01 -3.38126213e-03 -3.93859494e+01] [-1.22261061e-02 -1.05672454e-04 9.99925253e-01 -4.17762039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.10, Y:-39.40, Z:-4.18 [[ 9.58232258e-01 2.85773353e-01 1.11592863e-02 2.00100354e+02] [-2.85755306e-01 9.58297229e-01 -3.21345385e-03 -3.93967092e+01] [-1.16122326e-02 -1.09590135e-04 9.99932570e-01 -4.17812114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.868623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.13, Y:-39.41, Z:-4.18 [[ 9.58029692e-01 2.86454361e-01 1.10909118e-02 2.00131026e+02] [-2.86436553e-01 9.58093882e-01 -3.19614187e-03 -3.94068627e+01] [-1.15416836e-02 -1.14843741e-04 9.99933386e-01 -4.17883697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.898623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:200.16, Y:-39.42, Z:-4.18 [[ 9.57833704e-01 2.87119538e-01 1.08151121e-02 2.00161946e+02] [-2.87102625e-01 9.57894753e-01 -3.11857344e-03 -3.94168846e+01] [-1.12551425e-02 -1.17972331e-04 9.99936652e-01 -4.17928104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.928623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:200.19, Y:-39.43, Z:-4.18 [[ 9.57376556e-01 2.88647016e-01 1.06315503e-02 2.00192236e+02] [-2.88630736e-01 9.57435577e-01 -3.06837852e-03 -3.94271712e+01] [-1.10647028e-02 -1.30998514e-04 9.99938776e-01 -4.17950403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.22, Y:-39.44, Z:-4.18 [[ 9.57034688e-01 2.89775942e-01 1.07008630e-02 2.00223955e+02] [-2.89759511e-01 9.57094500e-01 -3.08918278e-03 -3.94364263e+01] [-1.11369080e-02 -1.44221740e-04 9.99937972e-01 -4.17984217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.988623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:200.26, Y:-39.44, Z:-4.17 [[ 9.56649749e-01 2.91056681e-01 1.03569212e-02 2.00255945e+02] [-2.91041343e-01 9.56705799e-01 -2.99187667e-03 -3.94440426e+01] [-1.07793322e-02 -1.52114187e-04 9.99941890e-01 -4.17132899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.018623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.29, Y:-39.45, Z:-4.18 [[ 9.56244596e-01 2.92372346e-01 1.07091007e-02 2.00287290e+02] [-2.92356004e-01 9.56304545e-01 -3.09591958e-03 -3.94536702e+01] [-1.11463229e-02 -1.70413507e-04 9.99937863e-01 -4.18143437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.048623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:200.32, Y:-39.46, Z:-4.18 [[ 9.55839813e-01 2.93698058e-01 1.05689137e-02 2.00319333e+02] [-2.93682199e-01 9.55898226e-01 -3.05746591e-03 -3.94621668e+01] [-1.10007776e-02 -1.81454160e-04 9.99939473e-01 -4.18229010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.078623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.35, Y:-39.47, Z:-4.18 [[ 9.55758420e-01 2.93957452e-01 1.07172088e-02 2.00350388e+02] [-2.93941136e-01 9.55818488e-01 -3.10266739e-03 -3.94713747e+01] [-1.11557585e-02 -1.84828040e-04 9.99937756e-01 -4.18326051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.108623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.38, Y:-39.48, Z:-4.18 [[ 9.55741157e-01 2.94003818e-01 1.09816052e-02 2.00381612e+02] [-2.93986665e-01 9.55804227e-01 -3.18136769e-03 -3.94801717e+01] [-1.14315989e-02 -1.87881436e-04 9.99934639e-01 -4.18392325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.138623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:200.41, Y:-39.49, Z:-4.18 [[ 9.55822793e-01 2.93739754e-01 1.09427941e-02 2.00413590e+02] [-2.93722683e-01 9.55885414e-01 -3.17204160e-03 -3.94890740e+01] [-1.13918119e-02 -1.82237165e-04 9.99935095e-01 -4.18434887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.168623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.44, Y:-39.50, Z:-4.18 [[ 9.56093339e-01 2.92854762e-01 1.10279246e-02 2.00444458e+02] [-2.92837339e-01 9.56156922e-01 -3.19901679e-03 -3.94979592e+01] [-1.14812738e-02 -1.70829466e-04 9.99934073e-01 -4.18492339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19862385300002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:200.48, Y:-39.51, Z:-4.19 [[ 9.56250438e-01 2.92348320e-01 1.08424602e-02 2.00476317e+02] [-2.92331425e-01 9.56311892e-01 -3.14707567e-03 -3.95070874e+01] [-1.12888159e-02 -1.60199357e-04 9.99936266e-01 -4.18558486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:200.51, Y:-39.52, Z:-4.19 [[ 9.56375143e-01 2.91953566e-01 1.04738134e-02 2.00507727e+02] [-2.91937755e-01 9.56432482e-01 -3.04198447e-03 -3.95156638e+01] [-1.09056136e-02 -1.48423241e-04 9.99940521e-01 -4.18599589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:200.54, Y:-39.52, Z:-4.19 [[ 9.56626527e-01 2.91129977e-01 1.04414780e-02 2.00539711e+02] [-2.91114193e-01 9.56683499e-01 -3.03460429e-03 -3.95241693e+01] [-1.08726540e-02 -1.36679477e-04 9.99940882e-01 -4.18704010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.57, Y:-39.53, Z:-4.19 [[ 9.56633286e-01 2.91100991e-01 1.06287321e-02 2.00571595e+02] [-2.91084610e-01 9.56692320e-01 -3.09114332e-03 -3.95332528e+01] [-1.10682612e-02 -1.36769738e-04 9.99938736e-01 -4.18772871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:200.60, Y:-39.54, Z:-4.19 [[ 9.56749648e-01 2.90714002e-01 1.07461804e-02 2.00603843e+02] [-2.90697210e-01 9.56809987e-01 -3.12742013e-03 -3.95419307e+01] [-1.11912376e-02 -1.31726549e-04 9.99937367e-01 -4.18750025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:200.63, Y:-39.55, Z:-4.19 [[ 9.56701112e-01 2.90867798e-01 1.09043779e-02 2.00634799e+02] [-2.90850492e-01 9.56763245e-01 -3.17570576e-03 -3.95503891e+01] [-1.13566185e-02 -1.33342440e-04 9.99935503e-01 -4.18800997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.67, Y:-39.56, Z:-4.19 [[ 9.56953930e-01 2.90041805e-01 1.07203854e-02 2.00666076e+02] [-2.90025005e-01 9.57013969e-01 -3.12400837e-03 -3.95584091e+01] [-1.11656516e-02 -1.19647745e-04 9.99937655e-01 -4.18846720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.70, Y:-39.57, Z:-4.19 [[ 9.57078595e-01 2.89630527e-01 1.07108109e-02 2.00697801e+02] [-2.89613712e-01 9.57138519e-01 -3.12288195e-03 -3.95675197e+01] [-1.11562116e-02 -1.13154241e-04 9.99937761e-01 -4.18915011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.73, Y:-39.58, Z:-4.19 [[ 9.57268916e-01 2.89006562e-01 1.05560626e-02 2.00728666e+02] [-2.88990162e-01 9.57327111e-01 -3.08053111e-03 -3.95761511e+01] [-1.09958986e-02 -1.01701560e-04 9.99939538e-01 -4.18973893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.76, Y:-39.59, Z:-4.19 [[ 9.57244806e-01 2.89086424e-01 1.05556104e-02 2.00760767e+02] [-2.89070012e-01 9.57302998e-01 -3.08207957e-03 -3.95856635e+01] [-1.09959048e-02 -1.01005765e-04 9.99939538e-01 -4.19038559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:-39.59, Z:-4.19 [[ 9.57332464e-01 2.88787684e-01 1.07809089e-02 2.00791105e+02] [-2.88770542e-01 9.57393161e-01 -3.14808502e-03 -3.95947402e+01] [-1.12306966e-02 -9.94449051e-05 9.99936929e-01 -4.19077924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:200.82, Y:-39.60, Z:-4.19 [[ 9.57606341e-01 2.87856946e-01 1.13346194e-02 2.00822399e+02] [-2.87837904e-01 9.57673415e-01 -3.31220782e-03 -3.96023236e+01] [-1.18083057e-02 -9.07418695e-05 9.99930275e-01 -4.19026198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:200.85, Y:-39.61, Z:-4.19 [[ 9.57636846e-01 2.87755982e-01 1.13210784e-02 2.00854603e+02] [-2.87736955e-01 9.57703758e-01 -3.31016792e-03 -3.96110336e+01] [-1.17947599e-02 -8.75538526e-05 9.99930436e-01 -4.19060306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.588623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:200.89, Y:-39.62, Z:-4.19 [[ 9.57741872e-01 2.87401386e-01 1.14433024e-02 2.00886328e+02] [-2.87381893e-01 9.57810230e-01 -3.34825596e-03 -3.96196152e+01] [-1.19228055e-02 -8.18329753e-05 9.99928917e-01 -4.19169828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.618623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:200.92, Y:-39.63, Z:-4.19 [[ 9.57829935e-01 2.87110560e-01 1.13728340e-02 2.00916622e+02] [-2.87091258e-01 9.57897448e-01 -3.33006775e-03 -3.96282325e+01] [-1.18501063e-02 -7.54026511e-05 9.99929782e-01 -4.19242731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.648623853 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:200.95, Y:-39.64, Z:-4.19 [[ 9.57977297e-01 2.86626069e-01 1.11801041e-02 2.00947214e+02] [-2.86607352e-01 9.58042531e-01 -3.27621661e-03 -3.96365968e+01] [-1.16500643e-02 -6.57589042e-05 9.99932134e-01 -4.19286185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.678623853 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:200.98, Y:-39.65, Z:-4.19 [[ 9.57962706e-01 2.86681630e-01 1.10043724e-02 2.00979438e+02] [-2.86663492e-01 9.58025907e-01 -3.22547949e-03 -3.96453740e+01] [-1.14671596e-02 -6.46627589e-05 9.99934248e-01 -4.19272812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.708623853 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:201.01, Y:-39.65, Z:-4.19 [[ 9.57926411e-01 2.86806128e-01 1.09195196e-02 2.01010754e+02] [-2.86788250e-01 9.57988643e-01 -3.20294143e-03 -3.96538746e+01] [-1.13793990e-02 -6.34077222e-05 9.99935251e-01 -4.19377898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.738623853 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:201.04, Y:-39.66, Z:-4.19 [[ 9.57845887e-01 2.87079864e-01 1.07892379e-02 2.01042359e+02] [-2.87062405e-01 9.57906649e-01 -3.16670355e-03 -3.96618329e+01] [-1.12441795e-02 -6.39706049e-05 9.99936780e-01 -4.19474891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.768623853 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:201.07, Y:-39.67, Z:-4.20 [[ 9.57711388e-01 2.87532943e-01 1.06632202e-02 2.01073376e+02] [-2.87515893e-01 9.57770746e-01 -3.13195879e-03 -3.96697143e+01] [-1.11134617e-02 -6.63326767e-05 9.99938241e-01 -4.19524437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.798623853 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:201.10, Y:-39.68, Z:-4.20 [[ 9.57619692e-01 2.87840028e-01 1.06133518e-02 2.01104185e+02] [-2.87823133e-01 9.57678502e-01 -3.11936697e-03 -3.96772198e+01] [-1.10620575e-02 -6.76009126e-05 9.99938811e-01 -4.19574606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.828623853 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:201.14, Y:-39.68, Z:-4.20 [[ 9.57512095e-01 2.88200310e-01 1.05436881e-02 2.01135802e+02] [-2.88183638e-01 9.57570142e-01 -3.10064757e-03 -3.96849947e+01] [-1.09899285e-02 -6.96108347e-05 9.99939606e-01 -4.19605659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.858623853 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:201.17, Y:-39.69, Z:-4.19 [[ 9.57457333e-01 2.88396274e-01 1.01511396e-02 2.01167622e+02] [-2.88380810e-01 9.57511141e-01 -2.98725471e-03 -3.96920052e+01] [-1.05813423e-02 -6.72249139e-05 9.99944014e-01 -4.19288505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.888623853 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:201.20, Y:-39.70, Z:-4.20 [[ 9.57423893e-01 2.88510856e-01 1.00486297e-02 2.01199080e+02] [-2.88495691e-01 9.57476622e-01 -2.95883645e-03 -3.97008911e+01] [-1.04749845e-02 -6.61256643e-05 9.99945134e-01 -4.19810404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.918623853 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:201.23, Y:-39.71, Z:-4.19 [[ 9.57418403e-01 2.88550618e-01 9.40970097e-03 2.01231148e+02] [-2.88537306e-01 9.57464640e-01 -2.77235458e-03 -3.97080030e+01] [-9.80942058e-03 -6.07464747e-05 9.99951885e-01 -4.19409672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94862385300002 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:201.26, Y:-39.72, Z:-4.20 [[ 9.57355612e-01 2.88760261e-01 9.36714556e-03 2.01261916e+02] [-2.88747059e-01 9.57401435e-01 -2.76186316e-03 -3.97161721e+01] [-9.76563493e-03 -6.06505385e-05 9.99952313e-01 -4.19958746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97862385300002 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:201.29, Y:-39.72, Z:-4.20 [[ 9.57221135e-01 2.89207711e-01 9.30579423e-03 2.01293825e+02] [-2.89194686e-01 9.57266366e-01 -2.74549048e-03 -3.97231474e+01] [-9.70214085e-03 -6.31447292e-05 9.99952931e-01 -4.20014886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00862385300002 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:201.33, Y:-39.73, Z:-4.20 [[ 9.57153474e-01 2.89422574e-01 9.58129104e-03 2.01325011e+02] [-2.89408751e-01 9.57201426e-01 -2.82944485e-03 -3.97306218e+01] [-9.99013066e-03 -6.46965049e-05 9.99950095e-01 -4.20071975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03862385300002 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:201.36, Y:-39.74, Z:-4.20 [[ 9.56847211e-01 2.90424994e-01 9.83553719e-03 2.01357283e+02] [-2.90410474e-01 9.56897757e-01 -2.90516006e-03 -3.97364503e+01] [-1.02553346e-02 -7.65487130e-05 9.99947410e-01 -4.20123123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06862385300002 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:201.39, Y:-39.74, Z:-4.20 [[ 9.56626312e-01 2.91143474e-01 1.00785738e-02 2.01389915e+02] [-2.91128245e-01 9.56679398e-01 -2.97896863e-03 -3.97439916e+01] [-1.05092712e-02 -8.43977414e-05 9.99944773e-01 -4.20163669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09862385300002 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:201.42, Y:-39.75, Z:-4.20 [[ 9.56411477e-01 2.91839348e-01 1.03383881e-02 2.01420784e+02] [-2.91823340e-01 9.56467347e-01 -3.05807314e-03 -3.97507126e+01] [-1.07807967e-02 -9.22067084e-05 9.99941881e-01 -4.20188057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12862385300002 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:201.45, Y:-39.76, Z:-4.20 [[ 9.56306635e-01 2.92173899e-01 1.05845057e-02 2.01453463e+02] [-2.92157120e-01 9.56365204e-01 -3.13275668e-03 -3.97577575e+01] [-1.10379627e-02 -9.64626905e-05 9.99939075e-01 -4.20252406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15862385300002 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:201.48, Y:-39.76, Z:-4.20 [[ 9.56205292e-01 2.92519862e-01 1.01769450e-02 2.01484965e+02] [-2.92504346e-01 9.56259443e-01 -3.01427412e-03 -3.97647930e+01] [-1.06135348e-02 -9.45357778e-05 9.99943670e-01 -4.20311015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18862385300002 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:201.52, Y:-39.77, Z:-4.20 [[ 9.56293586e-01 2.92232325e-01 1.01413078e-02 2.01517229e+02] [-2.92216880e-01 9.56347353e-01 -3.00579946e-03 -3.97694158e+01] [-1.05770047e-02 -8.90345918e-05 9.99944058e-01 -4.20406265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21862385300003 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:201.55, Y:-39.78, Z:-4.20 [[ 9.56451916e-01 2.91710070e-01 1.02453626e-02 2.01549902e+02] [-2.91694256e-01 9.56506784e-01 -3.03847027e-03 -3.97767929e+01] [-1.06861112e-02 -8.23626950e-05 9.99942898e-01 -4.20442879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24862385300003 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:201.58, Y:-39.78, Z:-4.21 [[ 9.56610311e-01 2.91197616e-01 1.00330324e-02 2.01580999e+02] [-2.91182394e-01 9.56662921e-01 -2.97821036e-03 -3.97840170e+01] [-1.04654779e-02 -7.24556622e-05 9.99945233e-01 -4.20507129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27862385300003 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:201.61, Y:-39.79, Z:-4.21 [[ 9.57060279e-01 2.89702742e-01 1.03896229e-02 2.01614106e+02] [-2.89686322e-01 9.57116669e-01 -3.08491167e-03 -3.97885508e+01] [-1.08377886e-02 -5.72852054e-05 9.99941268e-01 -4.20556702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30862385300003 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:201.65, Y:-39.79, Z:-4.20 [[ 9.57294617e-01 2.88935228e-01 1.01710495e-02 2.01647303e+02] [-2.88919428e-01 9.57348647e-01 -3.02199077e-03 -3.97946702e+01] [-1.06104001e-02 -4.56783187e-05 9.99943707e-01 -4.19875517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.338623853 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:201.68, Y:-39.80, Z:-4.21 [[ 9.57620643e-01 2.87825908e-01 1.09064140e-02 2.01678452e+02] [-2.87807639e-01 9.57682748e-01 -3.24303897e-03 -3.98024775e+01] [-1.13783152e-02 -3.33482005e-05 9.99935264e-01 -4.20731174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.368623853 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:201.71, Y:-39.81, Z:-4.21 [[ 9.58043843e-01 2.86412517e-01 1.09483302e-02 2.01710175e+02] [-2.86393989e-01 9.58106398e-01 -3.25776628e-03 -3.98099845e+01] [-1.14227302e-02 -1.44530300e-05 9.99934758e-01 -4.20801181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.398623853 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:201.74, Y:-39.82, Z:-4.21 [[ 9.59189526e-01 2.82559186e-01 1.07591824e-02 2.01741623e+02] [-2.82541025e-01 9.59249866e-01 -3.20375935e-03 -3.98167855e+01] [-1.12259959e-02 3.31019909e-05 9.99936986e-01 -4.20883296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.428623853 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:201.77, Y:-39.82, Z:-4.21 [[ 9.59835579e-01 2.80363901e-01 1.05709012e-02 2.01773177e+02] [-2.80346216e-01 9.59893786e-01 -3.14956562e-03 -3.98248527e+01] [-1.10299669e-02 5.95529921e-05 9.99939166e-01 -4.20955410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.458623853 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:201.80, Y:-39.83, Z:-4.21 [[ 9.60456783e-01 2.78225827e-01 1.06375406e-02 2.01803933e+02] [-2.78207761e-01 9.60515685e-01 -3.17172570e-03 -3.98325712e+01] [-1.10999806e-02 8.68590954e-05 9.99938390e-01 -4.21008888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.488623853 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:201.84, Y:-39.84, Z:-4.21 [[ 9.61033342e-01 2.76232532e-01 1.05120566e-02 2.01836159e+02] [-2.76214751e-01 9.61090826e-01 -3.13614329e-03 -3.98409512e+01] [-1.09693460e-02 1.10353168e-04 9.99939829e-01 -4.21056808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.518623853 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:201.87, Y:-39.85, Z:-4.21 [[ 9.62214061e-01 2.72068916e-01 1.10727406e-02 2.01867030e+02] [-2.72048882e-01 9.62277754e-01 -3.30594410e-03 -3.98476467e+01] [-1.15544966e-02 1.68699194e-04 9.99933230e-01 -4.21110117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.548623853 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:201.90, Y:-39.86, Z:-4.21 [[ 9.62694397e-01 2.70344889e-01 1.15386265e-02 2.01898553e+02] [-2.70322978e-01 9.62763523e-01 -3.44763521e-03 -3.98562481e+01] [-1.20410193e-02 1.99863215e-04 9.99927484e-01 -4.21148265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.578623853 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:201.93, Y:-39.86, Z:-4.21 [[ 9.63453038e-01 2.67606410e-01 1.20437922e-02 2.01930210e+02] [-2.67582292e-01 9.63528281e-01 -3.60120752e-03 -3.98643774e+01] [-1.25682406e-02 2.46888804e-04 9.99920986e-01 -4.21213836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.608623853 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:201.96, Y:-39.87, Z:-4.21 [[ 9.63755869e-01 2.66522628e-01 1.18454534e-02 2.01961925e+02] [-2.66499186e-01 9.63828627e-01 -3.54428634e-03 -3.98737051e+01] [-1.23616195e-02 2.59023080e-04 9.99923559e-01 -4.21248721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.638623853 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:201.99, Y:-39.88, Z:-4.21 [[ 9.64069092e-01 2.65386202e-01 1.18722008e-02 2.01992825e+02] [-2.65362537e-01 9.64142151e-01 -3.55483714e-03 -3.98832515e+01] [-1.23898940e-02 2.76671280e-04 9.99923204e-01 -4.21311268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.668623853 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:202.02, Y:-39.89, Z:-4.21 [[ 9.64310681e-01 2.64512320e-01 1.17534175e-02 2.02024671e+02] [-2.64489035e-01 9.64382264e-01 -3.52140499e-03 -3.98934158e+01] [-1.22662424e-02 2.87078402e-04 9.99924726e-01 -4.21391647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69862385300002 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:202.06, Y:-39.90, Z:-4.21 [[ 9.64757203e-01 2.62895350e-01 1.13830428e-02 2.02055738e+02] [-2.62873368e-01 9.64824308e-01 -3.41278926e-03 -3.99026715e+01] [-1.18798428e-02 3.00214221e-04 9.99929387e-01 -4.21440949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72862385300002 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:202.09, Y:-39.91, Z:-4.21 [[ 9.64784678e-01 2.62821620e-01 1.07387184e-02 2.02087464e+02] [-2.62802032e-01 9.64844399e-01 -3.22149300e-03 -3.99124597e+01] [-1.12078703e-02 2.85890072e-04 9.99937149e-01 -4.21488050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75862385300002 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:202.12, Y:-39.92, Z:-4.21 [[ 9.64748065e-01 2.62977837e-01 1.01895995e-02 2.02119303e+02] [-2.62960191e-01 9.64801836e-01 -3.05849206e-03 -3.99212756e+01] [-1.06352599e-02 2.71215277e-04 9.99943407e-01 -4.20651717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78862385300002 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:202.15, Y:-39.93, Z:-4.22 [[ 9.64654489e-01 2.63323606e-01 1.01190268e-02 2.02148955e+02] [-2.63306199e-01 9.64707524e-01 -3.03946214e-03 -3.99320468e+01] [-1.05622634e-02 2.67628324e-04 9.99944182e-01 -4.21636319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81862385300002 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:202.18, Y:-39.94, Z:-4.22 [[ 9.64242208e-01 2.64828017e-01 1.01531673e-02 2.02179742e+02] [-2.64810555e-01 9.64295627e-01 -3.05168722e-03 -3.99419592e+01] [-1.05988271e-02 2.53899757e-04 9.99943799e-01 -4.21672530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84862385300002 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:202.21, Y:-39.95, Z:-4.22 [[ 9.63903855e-01 2.66042551e-01 1.05223299e-02 2.02210363e+02] [-2.66023840e-01 9.63961253e-01 -3.16527120e-03 -3.99514987e+01] [-1.09852151e-02 2.51826512e-04 9.99939629e-01 -4.21700386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87862385300002 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:202.24, Y:-39.96, Z:-4.22 [[ 9.63484618e-01 2.67558156e-01 1.04892545e-02 2.02240857e+02] [-2.67539642e-01 9.63541685e-01 -3.15621883e-03 -3.99607573e+01] [-1.09513061e-02 2.34676892e-04 9.99940005e-01 -4.21766803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90862385300002 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:202.27, Y:-39.97, Z:-4.22 [[ 9.62507047e-01 2.71042791e-01 1.07698388e-02 2.02271698e+02] [-2.71023472e-01 9.62567278e-01 -3.24234890e-03 -3.99712781e+01] [-1.12455097e-02 2.01904571e-04 9.99936747e-01 -4.21772500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93862385300002 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:202.30, Y:-39.98, Z:-4.22 [[ 9.62025811e-01 2.72751753e-01 1.06216556e-02 2.02301631e+02] [-2.72733036e-01 9.62084429e-01 -3.20050316e-03 -3.99815536e+01] [-1.10918724e-02 1.82090258e-04 9.99938467e-01 -4.21743638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96862385300003 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:202.33, Y:-39.99, Z:-4.22 [[ 9.61531935e-01 2.74500411e-01 1.02889731e-02 2.02331557e+02] [-2.74482937e-01 9.61586969e-01 -3.10127478e-03 -3.99910462e+01] [-1.07450436e-02 1.57827194e-04 9.99942258e-01 -4.21837843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99862385300003 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:202.36, Y:-40.00, Z:-4.22 [[ 9.61099455e-01 2.76011387e-01 1.02738544e-02 2.02363228e+02] [-2.75994038e-01 9.61154355e-01 -3.09792045e-03 -4.00005431e+01] [-1.07298212e-02 1.41887097e-04 9.99942424e-01 -4.21916154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02862385300003 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:202.39, Y:-40.01, Z:-4.22 [[ 9.60224850e-01 2.79027172e-01 1.05865213e-02 2.02393620e+02] [-2.79008907e-01 9.60283200e-01 -3.19466893e-03 -4.00099526e+01] [-1.10574580e-02 1.13866763e-04 9.99938858e-01 -4.21945505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05862385300003 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:202.43, Y:-40.02, Z:-4.22 [[ 9.59738545e-01 2.80677103e-01 1.10584954e-02 2.02425179e+02] [-2.80657255e-01 9.59802247e-01 -3.33933797e-03 -4.00198631e+01] [-1.15512445e-02 1.01244380e-04 9.99933277e-01 -4.21993394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08862385300003 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:202.46, Y:-40.03, Z:-4.22 [[ 9.59317946e-01 2.82090475e-01 1.15777020e-02 2.02455474e+02] [-2.82068784e-01 9.59387803e-01 -3.49929985e-03 -4.00288384e+01] [-1.20946252e-02 9.12328269e-05 9.99926853e-01 -4.22050319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.118623853 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:202.49, Y:-40.04, Z:-4.22 [[ 9.58740628e-01 2.84033677e-01 1.18860397e-02 2.02485956e+02] [-2.84010950e-01 9.58814302e-01 -3.59372342e-03 -4.00383084e+01] [-1.24172434e-02 6.96832132e-05 9.99922901e-01 -4.22070021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.148623853 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:202.52, Y:-40.05, Z:-4.22 [[ 9.57694879e-01 2.87527915e-01 1.21743877e-02 2.02517227e+02] [-2.87504325e-01 9.57772257e-01 -3.68317450e-03 -4.00474508e+01] [-1.27193062e-02 2.71682458e-05 9.99919106e-01 -4.22129202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.178623853 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:202.55, Y:-40.06, Z:-4.22 [[ 9.57082884e-01 2.89572558e-01 1.18358551e-02 2.02548123e+02] [-2.89550381e-01 9.57156066e-01 -3.58370416e-03 -4.00565265e+01] [-1.23665029e-02 2.82554881e-06 9.99923532e-01 -4.22197294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.208623853 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:202.58, Y:-40.07, Z:-4.22 [[ 9.56394270e-01 2.91842597e-01 1.17430731e-02 2.02579712e+02] [-2.91820926e-01 9.56466360e-01 -3.55661041e-03 -4.00652949e+01] [-1.22698248e-02 -2.53526550e-05 9.99924723e-01 -4.22294660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.238623853 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:202.61, Y:-40.07, Z:-4.22 [[ 9.55705432e-01 2.94103778e-01 1.14059141e-02 2.02610889e+02] [-2.94083466e-01 9.55773490e-01 -3.45690047e-03 -4.00737613e+01] [-1.19181579e-02 -5.05122001e-05 9.99928975e-01 -4.22314079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.268623853 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:202.64, Y:-40.08, Z:-4.22 [[ 9.54605348e-01 2.97673496e-01 1.09141684e-02 2.02641396e+02] [-2.97655105e-01 9.54667734e-01 -3.31008117e-03 -4.00811918e+01] [-1.14047278e-02 -8.88367451e-05 9.99934960e-01 -4.22466941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.298623853 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:202.67, Y:-40.09, Z:-4.23 [[ 9.54194371e-01 2.99001854e-01 1.05353382e-02 2.02671762e+02] [-2.98984768e-01 9.54252525e-01 -3.19798509e-03 -4.00891652e+01] [-1.10095766e-02 -9.84062885e-05 9.99939388e-01 -4.22561965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.328623853 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:202.70, Y:-40.10, Z:-4.23 [[ 9.53400216e-01 3.01526783e-01 1.04702817e-02 2.02701732e+02] [-3.01510057e-01 9.53457699e-01 -3.17850578e-03 -4.00965767e+01] [-1.09413753e-02 -1.26507131e-04 9.99940133e-01 -4.22607793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.358623853 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:202.73, Y:-40.11, Z:-4.23 [[ 9.53389538e-01 3.01560547e-01 1.04702354e-02 2.02732169e+02] [-3.01543821e-01 9.53447020e-01 -3.17865822e-03 -4.01058685e+01] [-1.09413727e-02 -1.26735305e-04 9.99940133e-01 -4.22669214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.388623853 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:202.76, Y:-40.11, Z:-4.22 [[ 9.53194713e-01 3.02173114e-01 1.05473836e-02 2.02760969e+02] [-3.02156169e-01 9.53253057e-01 -3.20290055e-03 -4.01124033e+01] [-1.10221561e-02 -1.33969135e-04 9.99939245e-01 -4.22075774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.418623853 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:202.79, Y:-40.12, Z:-4.23 [[ 9.53027205e-01 3.02690364e-01 1.08485430e-02 2.02788703e+02] [-3.02672472e-01 9.53088937e-01 -3.29420590e-03 -4.01206368e+01] [-1.13367507e-02 -1.44087484e-04 9.99935727e-01 -4.22756665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44862385300002 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:202.82, Y:-40.13, Z:-4.23 [[ 9.52969038e-01 3.02865821e-01 1.10592918e-02 2.02818044e+02] [-3.02847242e-01 9.53033196e-01 -3.35796178e-03 -4.01280252e+01] [-1.15568841e-02 -1.49242417e-04 9.99933206e-01 -4.22806932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47862385300002 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:202.85, Y:-40.14, Z:-4.23 [[ 9.53090353e-01 3.02499959e-01 1.06091014e-02 2.02849217e+02] [-3.02482855e-01 9.53149388e-01 -3.21982913e-03 -4.01360616e+01] [-1.10860567e-02 -1.40283216e-04 9.99938538e-01 -4.22956436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50862385300002 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:202.88, Y:-40.14, Z:-4.23 [[ 9.53383833e-01 3.01586497e-01 1.02396722e-02 2.02878105e+02] [-3.01570477e-01 9.53438813e-01 -3.11086942e-03 -4.01441130e+01] [-1.07010971e-02 -1.22130221e-04 9.99942734e-01 -4.22957388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53862385300002 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:202.91, Y:-40.15, Z:-4.23 [[ 9.53662941e-01 3.00703617e-01 1.02142333e-02 2.02908733e+02] [-3.00687626e-01 9.53717632e-01 -3.10316643e-03 -4.01526170e+01] [-1.06746278e-02 -1.11918735e-04 9.99943018e-01 -4.23021505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56862385300002 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:202.94, Y:-40.16, Z:-4.23 [[ 9.53966471e-01 2.99742988e-01 1.01050964e-02 2.02937188e+02] [-2.99727278e-01 9.54019985e-01 -3.07036394e-03 -4.01597352e+01] [-1.05607840e-02 -9.97487857e-05 9.99944228e-01 -4.23032976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59862385300002 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:202.97, Y:-40.17, Z:-4.23 [[ 9.54553970e-01 2.97870267e-01 1.00011477e-02 2.02966669e+02] [-2.97854773e-01 9.54606358e-01 -3.03904524e-03 -4.01664883e+01] [-1.04524004e-02 -7.79568801e-05 9.99945369e-01 -4.23182547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62862385300002 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:203.00, Y:-40.17, Z:-4.23 [[ 9.54837646e-01 2.96962503e-01 9.91676042e-03 2.02995427e+02] [-2.96947219e-01 9.54889139e-01 -3.01362275e-03 -4.01744369e+01] [-1.03643398e-02 -6.72339789e-05 9.99946287e-01 -4.23202061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65862385300002 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:203.02, Y:-40.18, Z:-4.23 [[ 9.55170698e-01 2.95884635e-01 1.00608864e-02 2.03022934e+02] [-2.95868846e-01 9.55223681e-01 -3.05716934e-03 -4.01817844e+01] [-1.05149664e-02 -5.65842885e-05 9.99944715e-01 -4.23223921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68862385300002 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:203.05, Y:-40.19, Z:-4.22 [[ 9.55904198e-01 2.93496866e-01 1.03321247e-02 2.03052976e+02] [-2.93480081e-01 9.55960035e-01 -3.13906898e-03 -4.01876882e+01] [-1.07984052e-02 -3.16235824e-05 9.99941695e-01 -4.22363316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71862385300003 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:203.08, Y:-40.20, Z:-4.23 [[ 9.56323107e-01 2.92114918e-01 1.07233196e-02 2.03081116e+02] [-2.92096749e-01 9.56383226e-01 -3.25802152e-03 -4.01968729e+01] [-1.12073197e-02 -1.65255337e-05 9.99937196e-01 -4.23285102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74862385300003 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:203.11, Y:-40.20, Z:-4.23 [[ 9.56744478e-01 2.90729983e-01 1.07740679e-02 2.03107659e+02] [-2.90711551e-01 9.56805141e-01 -3.27367480e-03 -4.02045959e+01] [-1.12604390e-02 -7.57221984e-08 9.99936599e-01 -4.23380118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77862385300003 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:203.14, Y:-40.21, Z:-4.23 [[ 9.57099284e-01 2.89558049e-01 1.08211287e-02 2.03136991e+02] [-2.89539394e-01 9.57160455e-01 -3.28682338e-03 -4.02135773e+01] [-1.13092826e-02 1.26732553e-05 9.99936048e-01 -4.23355516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80862385300003 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:203.17, Y:-40.22, Z:-4.23 [[ 9.57872513e-01 2.86966594e-01 1.14202648e-02 2.03165374e+02] [-2.86945630e-01 9.57940589e-01 -3.46889675e-03 -4.02212344e+01] [-1.19353926e-02 4.57657734e-05 9.99928770e-01 -4.23393099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83862385300003 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:203.19, Y:-40.23, Z:-4.23 [[ 9.58309638e-01 2.85496976e-01 1.15807924e-02 2.03193622e+02] [-2.85475313e-01 9.58379608e-01 -3.51758903e-03 -4.02292418e+01] [-1.21030563e-02 6.49091321e-05 9.99926753e-01 -4.23423501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.868623853 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:203.22, Y:-40.24, Z:-4.23 [[ 9.58702429e-01 2.84179922e-01 1.14640768e-02 2.03222497e+02] [-2.84158604e-01 9.58770966e-01 -3.48167486e-03 -4.02380253e+01] [-1.19808461e-02 8.02740702e-05 9.99928224e-01 -4.23489263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.898623853 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:203.25, Y:-40.25, Z:-4.24 [[ 9.59559491e-01 2.81298439e-01 1.08060333e-02 2.03251168e+02] [-2.81279317e-01 9.59620329e-01 -3.28171575e-03 -4.02468281e+01] [-1.12928308e-02 1.09487818e-04 9.99936228e-01 -4.23545201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.928623853 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:203.28, Y:-40.26, Z:-4.24 [[ 9.59992007e-01 2.79813243e-01 1.09497298e-02 2.03281652e+02] [-2.79793525e-01 9.60054443e-01 -3.32421533e-03 -4.02565656e+01] [-1.14424963e-02 1.27556638e-04 9.99934524e-01 -4.23632935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.958623853 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:203.31, Y:-40.27, Z:-4.24 [[ 9.60328912e-01 2.78643518e-01 1.12325982e-02 2.03311334e+02] [-2.78622662e-01 9.60394590e-01 -3.41239058e-03 -4.02664819e+01] [-1.17385671e-02 1.47360906e-04 9.99931090e-01 -4.23707332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.988623853 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:203.34, Y:-40.28, Z:-4.24 [[ 9.61106671e-01 2.75935770e-01 1.15506364e-02 2.03342201e+02] [-2.75913496e-01 9.61176059e-01 -3.51100369e-03 -4.02770875e+01] [-1.20710066e-02 1.87472614e-04 9.99927125e-01 -4.23727414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.018623853 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:203.37, Y:-40.29, Z:-4.24 [[ 9.61443403e-01 2.74763698e-01 1.14670225e-02 2.03372799e+02] [-2.74741638e-01 9.61511762e-01 -3.48760747e-03 -4.02874567e+01] [-1.19839450e-02 2.02668635e-04 9.99928169e-01 -4.23775543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.048623853 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:203.40, Y:-40.30, Z:-4.24 [[ 9.61835803e-01 2.73378983e-01 1.16541729e-02 2.03402409e+02] [-2.73356059e-01 9.61906378e-01 -3.54755421e-03 -4.02978562e+01] [-1.21800500e-02 2.26425892e-04 9.99925795e-01 -4.23886637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.078623853 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:203.43, Y:-40.31, Z:-4.24 [[ 9.62350623e-01 2.71585032e-01 1.10837628e-02 2.03432555e+02] [-2.71564172e-01 9.62414419e-01 -3.37436969e-03 -4.03108160e+01] [-1.15836015e-02 2.37373899e-04 9.99932880e-01 -4.23962948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.108623853 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:203.46, Y:-40.32, Z:-4.24 [[ 9.62379651e-01 2.71501491e-01 1.05994194e-02 2.03462279e+02] [-2.71482389e-01 9.62437992e-01 -3.22878917e-03 -4.03217639e+01] [-1.10779050e-02 2.29765288e-04 9.99938612e-01 -4.24059673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.138623853 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:203.49, Y:-40.33, Z:-4.24 [[ 9.62331246e-01 2.71692656e-01 1.00833004e-02 2.03492386e+02] [-2.71675364e-01 9.62384047e-01 -3.07299017e-03 -4.03324554e+01] [-1.05389163e-02 2.17850162e-04 9.99944440e-01 -4.24132036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.168623853 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:203.52, Y:-40.34, Z:-4.24 [[ 9.62119436e-01 2.72460158e-01 9.57353696e-03 2.03522252e+02] [-2.72444591e-01 9.62167045e-01 -2.91931631e-03 -4.03429268e+01] [-1.00067391e-02 2.00472597e-04 9.99949911e-01 -4.24189114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19862385300002 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:203.55, Y:-40.35, Z:-4.24 [[ 9.61392060e-01 2.75007582e-01 9.80490871e-03 2.03551736e+02] [-2.74991356e-01 9.61442040e-01 -2.99281973e-03 -4.03534677e+01] [-1.02498995e-02 1.81007979e-04 9.99947452e-01 -4.24238068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22862385300002 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:203.58, Y:-40.36, Z:-4.24 [[ 9.60874363e-01 2.76795328e-01 1.02373923e-02 2.03580529e+02] [-2.76777737e-01 9.60928883e-01 -3.12521336e-03 -4.03632687e+01] [-1.07024504e-02 1.69455115e-04 9.99942713e-01 -4.24329306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25862385300002 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:203.61, Y:-40.37, Z:-4.24 [[ 9.60321550e-01 2.78702096e-01 1.03760685e-02 2.03609061e+02] [-2.78684133e-01 9.60377592e-01 -3.16778286e-03 -4.03732967e+01] [-1.08478114e-02 1.50444505e-04 9.99941149e-01 -4.24339646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28862385300002 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:203.64, Y:-40.38, Z:-4.24 [[ 9.59750659e-01 2.80656765e-01 1.05096801e-02 2.03636913e+02] [-2.80638452e-01 9.59808191e-01 -3.20867306e-03 -4.03832605e+01] [-1.09878129e-02 1.30105721e-04 9.99939624e-01 -4.24399249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31862385300002 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:203.66, Y:-40.39, Z:-4.24 [[ 9.58730466e-01 2.84129300e-01 1.03167045e-02 2.03663727e+02] [-2.84111854e-01 9.58785968e-01 -3.14983284e-03 -4.03935506e+01] [-1.07864713e-02 8.87426714e-05 9.99941820e-01 -4.24403529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34862385300002 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:203.69, Y:-40.40, Z:-4.24 [[ 9.58292266e-01 2.85610404e-01 1.01306908e-02 2.03694293e+02] [-2.85593687e-01 9.58345810e-01 -3.09087467e-03 -4.04034767e+01] [-1.05914911e-02 6.86999509e-05 9.99943906e-01 -4.24493844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37862385300002 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:203.72, Y:-40.41, Z:-4.24 [[ 9.57770357e-01 2.87370276e-01 9.70920879e-03 2.03723613e+02] [-2.87354980e-01 9.57819567e-01 -2.96534113e-03 -4.04120357e+01] [-1.01518211e-02 5.01263329e-05 9.99948468e-01 -4.23594775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40862385300002 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:203.75, Y:-40.42, Z:-4.25 [[ 9.57468446e-01 2.88363608e-01 1.00301505e-02 2.03751466e+02] [-2.88347334e-01 9.57520980e-01 -3.06381237e-03 -4.04220333e+01] [-1.04875715e-02 4.13365285e-05 9.99945003e-01 -4.24670303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43862385300002 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:203.78, Y:-40.43, Z:-4.25 [[ 9.56636938e-01 2.91103471e-01 1.02243854e-02 2.03780306e+02] [-2.91086722e-01 9.56691575e-01 -3.12267905e-03 -4.04324528e+01] [-1.06906060e-02 1.10873062e-05 9.99942854e-01 -4.24731581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46862385300003 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:203.81, Y:-40.44, Z:-4.25 [[ 9.56206008e-01 2.92509057e-01 1.04173489e-02 2.03809313e+02] [-2.92491754e-01 9.56262752e-01 -3.18161300e-03 -4.04421120e+01] [-1.08923734e-02 -4.71119742e-06 9.99940676e-01 -4.24792906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49862385300003 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:203.84, Y:-40.45, Z:-4.25 [[ 9.55699079e-01 2.94165546e-01 1.02908628e-02 2.03839852e+02] [-2.94148772e-01 9.55754482e-01 -3.14151000e-03 -4.04524270e+01] [-1.07596623e-02 -2.47064513e-05 9.99942113e-01 -4.24846078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52862385300003 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:203.87, Y:-40.46, Z:-4.25 [[ 9.55206309e-01 2.95766597e-01 1.01502689e-02 2.03869971e+02] [-2.95750349e-01 9.55260236e-01 -3.10036591e-03 -4.04622800e+01] [-1.06131329e-02 -4.04564920e-05 9.99943678e-01 -4.24921548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55862385300003 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:203.90, Y:-40.47, Z:-4.25 [[ 9.54308005e-01 2.98657559e-01 9.99471237e-03 2.03900948e+02] [-2.98641946e-01 9.54360339e-01 -3.05462811e-03 -4.04720580e+01] [-1.04508449e-02 -6.97842962e-05 9.99945386e-01 -4.24953294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58862385300003 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:203.93, Y:-40.48, Z:-4.25 [[ 9.54021461e-01 2.99578251e-01 9.79406430e-03 2.03930934e+02] [-2.99563276e-01 9.54071730e-01 -2.99634170e-03 -4.04810557e+01] [-1.02418787e-02 -7.53677004e-05 9.99947548e-01 -4.25035506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.618623853 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:203.96, Y:-40.49, Z:-4.25 [[ 9.53819538e-01 3.00224241e-01 9.67955765e-03 2.03959679e+02] [-3.00209643e-01 9.53868648e-01 -2.96166752e-03 -4.04893385e+01] [-1.01221910e-02 -8.10002015e-05 9.99948766e-01 -4.25123109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.648623853 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:203.99, Y:-40.50, Z:-4.25 [[ 9.53776926e-01 3.00334682e-01 1.04237876e-02 2.03989410e+02] [-3.00317759e-01 9.53833880e-01 -3.18943086e-03 -4.04982198e+01] [-1.09004585e-02 -8.84429785e-05 9.99940584e-01 -4.25143470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.678623853 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:204.02, Y:-40.51, Z:-4.25 [[ 9.53837577e-01 3.00117108e-01 1.11174405e-02 2.04019299e+02] [-3.00097851e-01 9.53902360e-01 -3.40096719e-03 -4.05086761e+01] [-1.16256412e-02 -9.23496923e-05 9.99932416e-01 -4.25205404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.708623853 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:204.05, Y:-40.52, Z:-4.25 [[ 9.54078553e-01 2.99334478e-01 1.15318907e-02 2.04048083e+02] [-2.99313665e-01 9.54148240e-01 -3.53080816e-03 -4.05185580e+01] [-1.20600258e-02 -8.29841162e-05 9.99927272e-01 -4.25231758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.738623853 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:204.08, Y:-40.53, Z:-4.25 [[ 9.54388527e-01 2.98341168e-01 1.16227391e-02 2.04077791e+02] [-2.98319951e-01 9.54459293e-01 -3.55868744e-03 -4.05284886e+01] [-1.21551343e-02 -7.09244804e-05 9.99926121e-01 -4.25310251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.768623853 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:204.11, Y:-40.54, Z:-4.25 [[ 9.55068604e-01 2.96178361e-01 1.10607443e-02 2.04108659e+02] [-2.96159014e-01 9.55132649e-01 -3.38553672e-03 -4.05390623e+01] [-1.15672008e-02 -4.23193135e-05 9.99933097e-01 -4.25427386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.798623853 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:204.14, Y:-40.55, Z:-4.25 [[ 9.55415222e-01 2.95059830e-01 1.10203958e-02 2.04140270e+02] [-2.95040524e-01 9.55478778e-01 -3.37538692e-03 -4.05499311e+01] [-1.15256954e-02 -2.65673202e-05 9.99933577e-01 -4.25498799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.828623853 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:204.17, Y:-40.56, Z:-4.26 [[ 9.55697715e-01 2.94146642e-01 1.09375464e-02 2.04170123e+02] [-2.94127538e-01 9.55760301e-01 -3.35239071e-03 -4.05603508e+01] [-1.14397671e-02 -1.31614593e-05 9.99934564e-01 -4.25572521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.858623853 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:204.20, Y:-40.57, Z:-4.26 [[ 9.55991281e-01 2.93190304e-01 1.09597411e-02 2.04201167e+02] [-2.93171035e-01 9.56054102e-01 -3.36129031e-03 -4.05704741e+01] [-1.14636031e-02 2.85603062e-07 9.99934291e-01 -4.25620076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.888623853 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:204.23, Y:-40.58, Z:-4.26 [[ 9.56572659e-01 2.91267090e-01 1.14991687e-02 2.04232846e+02] [-2.91245709e-01 9.56641773e-01 -3.52924781e-03 -4.05811157e+01] [-1.20285389e-02 2.68984089e-05 9.99927654e-01 -4.25677639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.918623853 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:204.26, Y:-40.59, Z:-4.25 [[ 9.56804542e-01 2.90512579e-01 1.12920151e-02 2.04264292e+02] [-2.90491881e-01 9.56871172e-01 -3.46795518e-03 -4.05906888e+01] [-1.18124883e-02 3.79165594e-05 9.99930229e-01 -4.24651928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94862385300002 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:204.29, Y:-40.60, Z:-4.26 [[ 9.57094596e-01 2.89529925e-01 1.19313564e-02 2.04293565e+02] [-2.89506701e-01 9.57168961e-01 -3.66750181e-03 -4.06029566e+01] [-1.24821755e-02 5.59385394e-05 9.99922093e-01 -4.25662476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97862385300002 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:204.33, Y:-40.61, Z:-4.26 [[ 9.57158840e-01 2.89320043e-01 1.18687915e-02 2.04325144e+02] [-2.89297033e-01 9.57232422e-01 -3.64929433e-03 -4.06133781e+01] [-1.24170060e-02 5.93481609e-05 9.99922904e-01 -4.25717232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00862385300002 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:204.36, Y:-40.62, Z:-4.26 [[ 9.57205864e-01 2.89161833e-01 1.19318085e-02 2.04355793e+02] [-2.89138535e-01 9.57280225e-01 -3.67121850e-03 -4.06235391e+01] [-1.24836606e-02 6.41662406e-05 9.99922074e-01 -4.25780352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03862385300002 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:204.39, Y:-40.63, Z:-4.26 [[ 9.57237633e-01 2.89044504e-01 1.22224896e-02 2.04387338e+02] [-2.89020016e-01 9.57315658e-01 -3.76301164e-03 -4.06340892e+01] [-1.27884586e-02 6.95521968e-05 9.99918222e-01 -4.25838061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06862385300002 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:204.42, Y:-40.65, Z:-4.26 [[ 9.57495081e-01 2.88200353e-01 1.19886197e-02 2.04418699e+02] [-2.88176698e-01 9.57570128e-01 -3.69336288e-03 -4.06451697e+01] [-1.25443726e-02 8.15359560e-05 9.99921313e-01 -4.25902272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09862385300002 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:204.45, Y:-40.66, Z:-4.26 [[ 9.57679932e-01 2.87585524e-01 1.19881264e-02 2.04449805e+02] [-2.87561793e-01 9.57754957e-01 -3.69553107e-03 -4.06556081e+01] [-1.25444687e-02 9.18088305e-05 9.99921311e-01 -4.25923830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12862385300002 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:204.48, Y:-40.67, Z:-4.26 [[ 9.57854506e-01 2.87003640e-01 1.19856561e-02 2.04480070e+02] [-2.86979840e-01 9.57929486e-01 -3.69751523e-03 -4.06663016e+01] [-1.25426137e-02 1.02039962e-04 9.99921333e-01 -4.25987990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15862385300002 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:204.51, Y:-40.68, Z:-4.26 [[ 9.58065206e-01 2.86310719e-01 1.17146660e-02 2.04511718e+02] [-2.86287902e-01 9.58136817e-01 -3.61625484e-03 -4.06768080e+01] [-1.22596253e-02 1.10840804e-04 9.99924842e-01 -4.26076341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18862385300002 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:204.54, Y:-40.69, Z:-4.26 [[ 9.58499621e-01 2.84885062e-01 1.09077239e-02 2.04542825e+02] [-2.84865165e-01 9.58561676e-01 -3.36911790e-03 -4.06879171e+01] [-1.14155375e-02 1.22067660e-04 9.99934833e-01 -4.26170529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21862385300003 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:204.57, Y:-40.70, Z:-4.26 [[ 9.58682793e-01 2.84253908e-01 1.12702351e-02 2.04572491e+02] [-2.84232593e-01 9.58749027e-01 -3.48367163e-03 -4.06987255e+01] [-1.17955742e-02 1.36367893e-04 9.99930420e-01 -4.26223322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24862385300003 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:204.60, Y:-40.71, Z:-4.26 [[ 9.58818435e-01 2.83789840e-01 1.14252236e-02 2.04603388e+02] [-2.83767875e-01 9.58886493e-01 -3.53377467e-03 -4.07099455e+01] [-1.19583419e-02 1.46136880e-04 9.99928486e-01 -4.26207659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27862385300003 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:204.64, Y:-40.72, Z:-4.26 [[ 9.58794782e-01 2.83869779e-01 1.14243195e-02 2.04635334e+02] [-2.83847785e-01 9.58862830e-01 -3.53669459e-03 -4.07199795e+01] [-1.19583160e-02 1.48196537e-04 9.99928486e-01 -4.26272348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30862385300003 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:204.67, Y:-40.73, Z:-4.26 [[ 9.58993538e-01 2.83201473e-01 1.13278009e-02 2.04665242e+02] [-2.83179799e-01 9.59060426e-01 -3.50710405e-03 -4.07315556e+01] [-1.18572626e-02 1.55485731e-04 9.99929688e-01 -4.26316865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33862385300003 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:204.70, Y:-40.74, Z:-4.26 [[ 9.59013113e-01 2.83130007e-01 1.14563630e-02 2.04696652e+02] [-2.83107808e-01 9.59081526e-01 -3.54905528e-03 -4.07425175e+01] [-1.19924302e-02 1.60204736e-04 9.99928075e-01 -4.26391873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.368623853 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:204.73, Y:-40.75, Z:-4.26 [[ 9.59044098e-01 2.83014649e-01 1.17100753e-02 2.04726941e+02] [-2.82991414e-01 9.59115572e-01 -3.63031083e-03 -4.07533312e+01] [-1.22587467e-02 1.67777419e-04 9.99924845e-01 -4.26420100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.398623853 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:204.76, Y:-40.76, Z:-4.26 [[ 9.59093441e-01 2.82842367e-01 1.18307572e-02 2.04758015e+02] [-2.82818610e-01 9.59166391e-01 -3.66995956e-03 -4.07642901e+01] [-1.23856847e-02 1.73875849e-04 9.99923279e-01 -4.26475184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.428623853 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:204.79, Y:-40.78, Z:-4.27 [[ 9.59303125e-01 2.82119554e-01 1.20860061e-02 2.04788724e+02] [-2.82094670e-01 9.59379237e-01 -3.75180904e-03 -4.07771146e+01] [-1.26535220e-02 1.89724241e-04 9.99919923e-01 -4.26527897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.458623853 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:204.82, Y:-40.79, Z:-4.27 [[ 9.59390761e-01 2.81807367e-01 1.24087162e-02 2.04818258e+02] [-2.81781072e-01 9.59470983e-01 -3.85489591e-03 -4.07883569e+01] [-1.29921412e-02 2.01810180e-04 9.99915578e-01 -4.26561845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.488623853 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:204.85, Y:-40.80, Z:-4.27 [[ 9.59467482e-01 2.81538458e-01 1.25796337e-02 2.04849170e+02] [-2.81511376e-01 9.59549922e-01 -3.91062716e-03 -4.07999291e+01] [-1.31717785e-02 2.10809608e-04 9.99913226e-01 -4.26615952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.518623853 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:204.88, Y:-40.81, Z:-4.27 [[ 9.59482936e-01 2.81482397e-01 1.26552693e-02 2.04879675e+02] [-2.81454950e-01 9.59566368e-01 -3.93668303e-03 -4.08119125e+01] [-1.32516777e-02 2.15292016e-04 9.99912169e-01 -4.26708917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.548623853 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:204.91, Y:-40.83, Z:-4.27 [[ 9.59480682e-01 2.81515036e-01 1.20873907e-02 2.04909397e+02] [-2.81489970e-01 9.59556794e-01 -3.76238507e-03 -4.08258888e+01] [-1.26577058e-02 2.07456558e-04 9.99919867e-01 -4.26773331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.578623853 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:204.94, Y:-40.84, Z:-4.27 [[ 9.59310483e-01 2.82117550e-01 1.15362479e-02 2.04940228e+02] [-2.82094734e-01 9.59379826e-01 -3.59304721e-03 -4.08377016e+01] [-1.20813052e-02 1.92533049e-04 9.99927000e-01 -4.26816695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.608623853 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:204.97, Y:-40.85, Z:-4.27 [[ 9.59097651e-01 2.82858879e-01 1.10702245e-02 2.04971441e+02] [-2.82837894e-01 9.59161521e-01 -3.45007016e-03 -4.08493836e+01] [-1.15940164e-02 1.77875203e-04 9.99932771e-01 -4.26885423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.638623853 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:205.00, Y:-40.86, Z:-4.27 [[ 9.58315242e-01 2.85502520e-01 1.09639729e-02 2.05002393e+02] [-2.85482082e-01 9.58377947e-01 -3.41920487e-03 -4.08621443e+01] [-1.14838215e-02 1.46658326e-04 9.99934048e-01 -4.26937982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.668623853 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:205.03, Y:-40.87, Z:-4.27 [[ 9.57686595e-01 2.87593680e-01 1.12366262e-02 2.05032891e+02] [-2.87572322e-01 9.57752504e-01 -3.50728423e-03 -4.08732408e+01] [-1.17705797e-02 1.27536397e-04 9.99930716e-01 -4.27016925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69862385300002 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:205.06, Y:-40.88, Z:-4.27 [[ 9.56895116e-01 2.90207188e-01 1.14684518e-02 2.05064053e+02] [-2.90185115e-01 9.56963833e-01 -3.58066082e-03 -4.08843260e+01] [-1.20140271e-02 9.83428355e-05 9.99927824e-01 -4.27030492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72862385300002 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:205.09, Y:-40.90, Z:-4.27 [[ 9.55114013e-01 2.96013649e-01 1.15387264e-02 2.05094658e+02] [-2.95991698e-01 9.55183709e-01 -3.60501266e-03 -4.08957309e+01] [-1.20887364e-02 2.78308994e-05 9.99926928e-01 -4.27086582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75862385300002 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:205.13, Y:-40.91, Z:-4.27 [[ 9.54114823e-01 2.99232968e-01 1.11595433e-02 2.05125118e+02] [-2.99212628e-01 9.54180083e-01 -3.48886408e-03 -4.09056497e+01] [-1.16921971e-02 -1.02993542e-05 9.99931644e-01 -4.27119734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78862385300002 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:205.16, Y:-40.92, Z:-4.27 [[ 9.53040045e-01 3.02634817e-01 1.12623216e-02 2.05156848e+02] [-3.02614314e-01 9.53106586e-01 -3.52312674e-03 -4.09157141e+01] [-1.18004137e-02 -5.04588465e-05 9.99930371e-01 -4.27220991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81862385300002 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:205.19, Y:-40.93, Z:-4.27 [[ 9.52074823e-01 3.05665662e-01 1.10469585e-02 2.05188186e+02] [-3.05646113e-01 9.52138906e-01 -3.45792684e-03 -4.09252330e+01] [-1.15752085e-02 -8.42548536e-05 9.99933001e-01 -4.27304264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84862385300002 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:205.22, Y:-40.93, Z:-4.27 [[ 9.50462806e-01 3.10672632e-01 1.01473894e-02 2.05219975e+02] [-3.10656404e-01 9.50516964e-01 -3.17812965e-03 -4.09328260e+01] [-1.06326237e-02 -1.31657470e-04 9.99943463e-01 -4.27472157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87862385300002 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:205.25, Y:-40.94, Z:-4.28 [[ 9.49755105e-01 3.12841297e-01 9.77566432e-03 2.05250364e+02] [-3.12826323e-01 9.49805402e-01 -3.06438593e-03 -4.09415060e+01] [-1.02436452e-02 -1.47668947e-04 9.99947522e-01 -4.27570886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90862385300002 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:205.28, Y:-40.95, Z:-4.28 [[ 9.49183978e-01 3.14566114e-01 9.89624071e-03 2.05282222e+02] [-3.14550855e-01 9.49235551e-01 -3.10291359e-03 -4.09503677e+01] [-1.03699350e-02 -1.67635115e-04 9.99946217e-01 -4.27612639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93862385300002 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:205.31, Y:-40.96, Z:-4.28 [[ 9.48742006e-01 3.15891184e-01 1.00680752e-02 2.05312820e+02] [-3.15875441e-01 9.48795408e-01 -3.15906698e-03 -4.09591472e+01] [-1.05504649e-02 -1.83118145e-04 9.99944326e-01 -4.27687283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96862385300003 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:205.35, Y:-40.97, Z:-4.28 [[ 9.48390082e-01 3.16930003e-01 1.05653217e-02 2.05345132e+02] [-3.16912708e-01 9.48448909e-01 -3.31719253e-03 -4.09663541e+01] [-1.10719857e-02 -2.02292220e-04 9.99938683e-01 -4.27718736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99862385300003 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:205.38, Y:-40.97, Z:-4.28 [[ 9.48359948e-01 3.17022329e-01 1.05000857e-02 2.05376701e+02] [-3.17005228e-01 9.48418053e-01 -3.29886749e-03 -4.09748139e+01] [-1.10042855e-02 -2.00068250e-04 9.99939431e-01 -4.27798391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02862385300003 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:205.41, Y:-40.98, Z:-4.28 [[ 9.48788302e-01 3.15739725e-01 1.04491192e-02 2.05408254e+02] [-3.15722687e-01 9.48845821e-01 -3.28513315e-03 -4.09819675e+01] [-1.09518501e-02 -1.82128089e-04 9.99940010e-01 -4.27852767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05862385300003 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:205.44, Y:-40.99, Z:-4.28 [[ 9.49170238e-01 3.14589281e-01 1.04615174e-02 2.05439821e+02] [-3.14572111e-01 9.49227874e-01 -3.29098539e-03 -4.09903876e+01] [-1.09656727e-02 -1.67196230e-04 9.99939861e-01 -4.27912071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08862385300003 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:205.47, Y:-41.00, Z:-4.28 [[ 9.49625440e-01 3.13208965e-01 1.05672918e-02 2.05470780e+02] [-3.13191335e-01 9.49684222e-01 -3.32659421e-03 -4.09986579e+01] [-1.10775094e-02 -1.50565745e-04 9.99938631e-01 -4.28006551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.118623853 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:205.50, Y:-41.01, Z:-4.28 [[ 9.50113576e-01 3.11713221e-01 1.09115021e-02 2.05502961e+02] [-3.11694300e-01 9.50176220e-01 -3.43706488e-03 -4.10076694e+01] [-1.14392284e-02 -1.35451001e-04 9.99934561e-01 -4.28042379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.148623853 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:205.53, Y:-41.02, Z:-4.28 [[ 9.50675892e-01 3.09978576e-01 1.13415813e-02 2.05534575e+02] [-3.09957982e-01 9.50743535e-01 -3.57499304e-03 -4.10162329e+01] [-1.18911063e-02 -1.16753941e-04 9.99929291e-01 -4.28064935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.178623853 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:205.57, Y:-41.02, Z:-4.28 [[ 9.51851521e-01 3.06346027e-01 1.14364754e-02 2.05566014e+02] [-3.06324793e-01 9.51920221e-01 -3.60747802e-03 -4.10238304e+01] [-1.19917488e-02 -6.94925291e-05 9.99928094e-01 -4.28116350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.208623853 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:205.60, Y:-41.03, Z:-4.28 [[ 9.52507491e-01 3.04297715e-01 1.15056507e-02 2.05597992e+02] [-3.04276048e-01 9.52576978e-01 -3.63151300e-03 -4.10329955e+01] [-1.20650791e-02 -4.18505993e-05 9.99927213e-01 -4.28225888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.238623853 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:205.63, Y:-41.04, Z:-4.28 [[ 9.53165483e-01 3.02226967e-01 1.15940404e-02 2.05628832e+02] [-3.02204776e-01 9.53235994e-01 -3.66246415e-03 -4.10417990e+01] [-1.21587521e-02 -1.28399794e-05 9.99926080e-01 -4.28324643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.268623853 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:205.66, Y:-41.05, Z:-4.28 [[ 9.54634391e-01 2.97557179e-01 1.15284029e-02 2.05659602e+02] [-2.97534883e-01 9.54703998e-01 -3.64286856e-03 -4.10492786e+01] [-1.20901740e-02 4.75056041e-05 9.99926910e-01 -4.28396306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.298623853 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:205.69, Y:-41.06, Z:-4.28 [[ 9.55297798e-01 2.95423677e-01 1.14441493e-02 2.05691750e+02] [-2.95401528e-01 9.55366341e-01 -3.61826447e-03 -4.10586153e+01] [-1.20022760e-02 7.59008981e-05 9.99927967e-01 -4.28463950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.328623853 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:205.72, Y:-41.07, Z:-4.29 [[ 9.55981659e-01 2.93194413e-01 1.16663669e-02 2.05723682e+02] [-2.93171199e-01 9.56052835e-01 -3.69102634e-03 -4.10678757e+01] [-1.22358514e-02 1.08310721e-04 9.99925133e-01 -4.28543433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.358623853 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:205.76, Y:-41.08, Z:-4.29 [[ 9.57341683e-01 2.88720052e-01 1.17317002e-02 2.05755426e+02] [-2.88696210e-01 9.57413549e-01 -3.71416605e-03 -4.10769188e+01] [-1.23044429e-02 1.68828603e-04 9.99924283e-01 -4.28518885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.388623853 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:205.79, Y:-41.09, Z:-4.29 [[ 9.57878904e-01 2.86930627e-01 1.17822579e-02 2.05787318e+02] [-2.86906412e-01 9.57951344e-01 -3.73269111e-03 -4.10866866e+01] [-1.23578532e-02 1.95060714e-04 9.99923620e-01 -4.28555863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.418623853 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:205.82, Y:-41.10, Z:-4.29 [[ 9.58381306e-01 2.85229223e-01 1.22295466e-02 2.05819401e+02] [-2.85202962e-01 9.58459304e-01 -3.87713844e-03 -4.10961854e+01] [-1.28273960e-02 2.27874076e-04 9.99917700e-01 -4.28659467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44862385300002 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:205.85, Y:-41.11, Z:-4.29 [[ 9.58780743e-01 2.83888895e-01 1.21070907e-02 2.05850101e+02] [-2.83863017e-01 9.58857150e-01 -3.84091630e-03 -4.11056013e+01] [-1.26993640e-02 2.45841294e-04 9.99919330e-01 -4.28747629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47862385300002 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:205.88, Y:-41.12, Z:-4.29 [[ 9.59705369e-01 2.80748597e-01 1.20760203e-02 2.05881402e+02] [-2.80722574e-01 9.59781299e-01 -3.83333349e-03 -4.11153462e+01] [-1.26665415e-02 2.88859229e-04 9.99919734e-01 -4.28770441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50862385300002 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:205.91, Y:-41.13, Z:-4.28 [[ 9.59926459e-01 2.80004346e-01 1.17796516e-02 2.05911991e+02] [-2.79979498e-01 9.59998688e-01 -3.74174413e-03 -4.11251641e+01] [-1.23561547e-02 2.93738258e-04 9.99923617e-01 -4.28460052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53862385300002 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:205.94, Y:-41.14, Z:-4.29 [[ 9.60264739e-01 2.78842776e-01 1.17616755e-02 2.05943187e+02] [-2.78817890e-01 9.60336717e-01 -3.73825171e-03 -4.11351401e+01] [-1.23375533e-02 3.10345755e-04 9.99923841e-01 -4.28929830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56862385300002 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:205.97, Y:-41.15, Z:-4.29 [[ 9.60606741e-01 2.77665965e-01 1.16748245e-02 2.05973631e+02] [-2.77641327e-01 9.60677629e-01 -3.71318140e-03 -4.11457251e+01] [-1.22467668e-02 3.25493322e-04 9.99924953e-01 -4.29017533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59862385300002 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:206.00, Y:-41.16, Z:-4.29 [[ 9.60693098e-01 2.77372779e-01 1.15374788e-02 2.06004784e+02] [-2.77348670e-01 9.60762319e-01 -3.67162537e-03 -4.11561427e+01] [-1.21031839e-02 3.27400741e-04 9.99926700e-01 -4.29116401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62862385300002 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:206.03, Y:-41.17, Z:-4.29 [[ 9.60672703e-01 2.77446506e-01 1.14627439e-02 2.06034927e+02] [-2.77422683e-01 9.60741032e-01 -3.65034797e-03 -4.11667550e+01] [-1.20255047e-02 3.26764477e-04 9.99927638e-01 -4.29167894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65862385300002 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:206.07, Y:-41.18, Z:-4.29 [[ 9.60486087e-01 2.78091967e-01 1.14600926e-02 2.06065629e+02] [-2.78068175e-01 9.60554400e-01 -3.65168689e-03 -4.11784283e+01] [-1.20235471e-02 3.20707425e-04 9.99927663e-01 -4.29259216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68862385300002 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:206.10, Y:-41.19, Z:-4.28 [[ 9.60133967e-01 2.79323833e-01 1.09982953e-02 2.06095932e+02] [-2.79301975e-01 9.60196912e-01 -3.50676747e-03 -4.11884923e+01] [-1.15400529e-02 2.95120966e-04 9.99933368e-01 -4.28422150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71862385300003 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:206.13, Y:-41.20, Z:-4.29 [[ 9.59932151e-01 2.80010506e-01 1.11526328e-02 2.06127300e+02] [-2.79988052e-01 9.59996891e-01 -3.55808480e-03 -4.11996049e+01] [-1.17027940e-02 2.92916052e-04 9.99931477e-01 -4.29367058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74862385300003 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:206.16, Y:-41.21, Z:-4.29 [[ 9.59553464e-01 2.81302129e-01 1.12366178e-02 2.06157171e+02] [-2.81279395e-01 9.59619213e-01 -3.58734966e-03 -4.12095376e+01] [-1.17920034e-02 2.81624755e-04 9.99930432e-01 -4.29464000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77862385300003 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:206.19, Y:-41.22, Z:-4.30 [[ 9.58611552e-01 2.84506728e-01 1.09459991e-02 2.06187830e+02] [-2.84485340e-01 9.58674014e-01 -3.49659741e-03 -4.12200076e+01] [-1.14884504e-02 2.37902382e-04 9.99933977e-01 -4.29555299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80862385300003 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:206.22, Y:-41.23, Z:-4.30 [[ 9.58016931e-01 2.86506399e-01 1.08463521e-02 2.06219398e+02] [-2.86485505e-01 9.58078304e-01 -3.46673967e-03 -4.12304987e+01] [-1.13848978e-02 2.13872637e-04 9.99935167e-01 -4.29630323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83862385300003 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:206.25, Y:-41.24, Z:-4.30 [[ 9.57422556e-01 2.88479002e-01 1.10415283e-02 2.06250006e+02] [-2.88457452e-01 9.57486202e-01 -3.53154018e-03 -4.12403577e+01] [-1.15908862e-02 1.96165116e-04 9.99932804e-01 -4.29702628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.868623853 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:206.28, Y:-41.25, Z:-4.30 [[ 9.56808720e-01 2.90512866e-01 1.09246211e-02 2.06281528e+02] [-2.90491880e-01 9.56871070e-01 -3.49610372e-03 -4.12508136e+01] [-1.14691170e-02 1.71588823e-04 9.99934213e-01 -4.29721604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.898623853 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:206.31, Y:-41.26, Z:-4.30 [[ 9.55618752e-01 2.94390998e-01 1.12579524e-02 2.06311614e+02] [-2.94368950e-01 9.55685054e-01 -3.60526222e-03 -4.12617734e+01] [-1.18204136e-02 1.31264554e-04 9.99930128e-01 -4.29755860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.928623853 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:206.34, Y:-41.27, Z:-4.30 [[ 9.55076020e-01 2.96153294e-01 1.10915656e-02 2.06342292e+02] [-2.96131987e-01 9.55140416e-01 -3.55409788e-03 -4.12719632e+01] [-1.16465604e-02 1.09866306e-04 9.99932170e-01 -4.29832608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.958623853 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:206.37, Y:-41.28, Z:-4.30 [[ 9.54521117e-01 2.97939027e-01 1.10351191e-02 2.06371909e+02] [-2.97918032e-01 9.54584898e-01 -3.53801619e-03 -4.12818058e+01] [-1.15880711e-02 8.95501996e-05 9.99932852e-01 -4.29868999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.988623853 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:206.40, Y:-41.29, Z:-4.29 [[ 9.53982827e-01 2.99661662e-01 1.09386080e-02 2.06402087e+02] [-2.99641115e-01 9.54045535e-01 -3.50981267e-03 -4.12917973e+01] [-1.14876864e-02 7.06443100e-05 9.99934012e-01 -4.29272932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.018623853 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:206.43, Y:-41.30, Z:-4.30 [[ 9.53590946e-01 3.00875886e-01 1.17477276e-02 2.06431364e+02] [-3.00852281e-01 9.53663304e-01 -3.76928261e-03 -4.13025645e+01] [-1.23374629e-02 6.00231374e-05 9.99923889e-01 -4.30006391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.048623853 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:206.46, Y:-41.31, Z:-4.30 [[ 9.53491229e-01 3.01206490e-01 1.13633957e-02 2.06459654e+02] [-3.01184408e-01 9.53558938e-01 -3.64758437e-03 -4.13124449e+01] [-1.19343436e-02 5.54621075e-05 9.99928782e-01 -4.30036431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.078623853 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:206.49, Y:-41.32, Z:-4.30 [[ 9.53528845e-01 3.01086007e-01 1.13999402e-02 2.06487809e+02] [-3.01063773e-01 9.53596987e-01 -3.65945460e-03 -4.13224570e+01] [-1.19727592e-02 5.72865129e-05 9.99928322e-01 -4.30152128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.108623853 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:206.52, Y:-41.33, Z:-4.30 [[ 9.53614329e-01 3.00808695e-01 1.15689428e-02 2.06517704e+02] [-3.00785775e-01 9.53684500e-01 -3.71376700e-03 -4.13330999e+01] [-1.21502548e-02 6.17279999e-05 9.99926181e-01 -4.30212465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.138623853 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:206.55, Y:-41.34, Z:-4.30 [[ 9.53871407e-01 2.99984699e-01 1.17694319e-02 2.06546429e+02] [-2.99960922e-01 9.53944011e-01 -3.77754903e-03 -4.13448851e+01] [-1.23605860e-02 7.29263648e-05 9.99923602e-01 -4.30290000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.168623853 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:206.58, Y:-41.35, Z:-4.30 [[ 9.53861684e-01 3.00015643e-01 1.17686696e-02 2.06576712e+02] [-2.99991840e-01 9.53934279e-01 -3.77992227e-03 -4.13546664e+01] [-1.23605732e-02 7.50181788e-05 9.99923602e-01 -4.30351468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19862385300002 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:206.61, Y:-41.37, Z:-4.30 [[ 9.54029168e-01 2.99492591e-01 1.15123559e-02 2.06606607e+02] [-2.99469769e-01 9.54098623e-01 -3.69807757e-03 -4.13654194e+01] [-1.20914697e-02 8.04713077e-05 9.99926892e-01 -4.30396539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22862385300002 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:206.64, Y:-41.38, Z:-4.30 [[ 9.54197586e-01 2.98951426e-01 1.16194857e-02 2.06636322e+02] [-2.98928134e-01 9.54268325e-01 -3.73277064e-03 -4.13763201e+01] [-1.22040242e-02 8.84095669e-05 9.99925524e-01 -4.30435461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25862385300002 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:206.66, Y:-41.39, Z:-4.30 [[ 9.54515025e-01 2.97913775e-01 1.21840020e-02 2.06664470e+02] [-2.97888087e-01 9.54592778e-01 -3.91362947e-03 -4.13898795e+01] [-1.27966844e-02 1.06149102e-04 9.99918113e-01 -4.30440248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28862385300002 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:206.69, Y:-41.40, Z:-4.30 [[ 9.54649834e-01 2.97473556e-01 1.23764694e-02 2.06694261e+02] [-2.97446988e-01 9.54730051e-01 -3.97732353e-03 -4.14018809e+01] [-1.29993358e-02 1.15607709e-04 9.99915498e-01 -4.30467120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31862385300002 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:206.72, Y:-41.41, Z:-4.30 [[ 9.54727051e-01 2.97216944e-01 1.25835933e-02 2.06724427e+02] [-2.97189426e-01 9.54809967e-01 -4.04629754e-03 -4.14132690e+01] [-1.32175685e-02 1.23398839e-04 9.99912637e-01 -4.30499742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34862385300002 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:206.75, Y:-41.43, Z:-4.31 [[ 9.54826168e-01 2.96901605e-01 1.25069984e-02 2.06754208e+02] [-2.96874378e-01 9.54908069e-01 -4.02285877e-03 -4.14254027e+01] [-1.31374269e-02 1.28123451e-04 9.99913692e-01 -4.30605121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37862385300002 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:206.78, Y:-41.44, Z:-4.31 [[ 9.54802859e-01 2.96982874e-01 1.23561356e-02 2.06783761e+02] [-2.96956279e-01 9.54882797e-01 -3.97638760e-03 -4.14362187e+01] [-1.29795803e-02 1.27434199e-04 9.99915754e-01 -4.30715926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40862385300002 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:206.81, Y:-41.45, Z:-4.31 [[ 9.54841792e-01 2.96873401e-01 1.19723143e-02 2.06812861e+02] [-2.96848392e-01 9.54916838e-01 -3.85542022e-03 -4.14470189e+01] [-1.25771362e-02 1.27354105e-04 9.99920897e-01 -4.30824296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43862385300002 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:206.84, Y:-41.46, Z:-4.31 [[ 9.54894465e-01 2.96739306e-01 1.10609341e-02 2.06842429e+02] [-2.96717960e-01 9.54958518e-01 -3.56114680e-03 -4.14606457e+01] [-1.16194654e-02 1.18541574e-04 9.99932485e-01 -4.30952401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46862385300003 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:206.87, Y:-41.47, Z:-4.31 [[ 9.54978374e-01 2.96484186e-01 1.06505158e-02 2.06871296e+02] [-2.96464349e-01 9.55037755e-01 -3.43167287e-03 -4.14719627e+01] [-1.11890814e-02 1.19675157e-04 9.99937393e-01 -4.30970127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49862385300003 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:206.90, Y:-41.48, Z:-4.31 [[ 9.54993714e-01 2.96444745e-01 1.03691137e-02 2.06900850e+02] [-2.96425950e-01 9.55049998e-01 -3.34013427e-03 -4.14840035e+01] [-1.08931873e-02 1.16132863e-04 9.99940661e-01 -4.31033738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52862385300003 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:206.93, Y:-41.50, Z:-4.31 [[ 9.54896408e-01 2.96747706e-01 1.06606141e-02 2.06931034e+02] [-2.96727841e-01 9.54955908e-01 -3.43550697e-03 -4.14982634e+01] [-1.11998952e-02 1.17252276e-04 9.99937272e-01 -4.31043041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55862385300003 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:206.96, Y:-41.51, Z:-4.30 [[ 9.54662753e-01 2.97519268e-01 1.00654893e-02 2.06962022e+02] [-2.97501583e-01 9.54715808e-01 -3.24553073e-03 -4.15098299e+01] [-1.05752897e-02 1.03888290e-04 9.99944075e-01 -4.30015014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58862385300003 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:206.99, Y:-41.52, Z:-4.31 [[ 9.54553598e-01 2.97837619e-01 1.09627679e-02 2.06993092e+02] [-2.97816632e-01 9.54616541e-01 -3.53739254e-03 -4.15215003e+01] [-1.15188081e-02 1.11736159e-04 9.99933650e-01 -4.31158254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.618623853 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:207.02, Y:-41.53, Z:-4.31 [[ 9.54075559e-01 2.99367538e-01 1.09043550e-02 2.07022979e+02] [-2.99346849e-01 9.54137866e-01 -3.52079954e-03 -4.15329885e+01] [-1.14582711e-02 9.49244922e-05 9.99934347e-01 -4.31282635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.648623853 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:207.05, Y:-41.54, Z:-4.31 [[ 9.53745243e-01 3.00415194e-01 1.09873722e-02 2.07053782e+02] [-3.00394235e-01 9.53808526e-01 -3.54959002e-03 -4.15442734e+01] [-1.15462000e-02 8.48613397e-05 9.99933337e-01 -4.31333987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.678623853 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:207.08, Y:-41.56, Z:-4.31 [[ 9.53314935e-01 3.01778666e-01 1.09668513e-02 2.07084997e+02] [-3.01757851e-01 9.53378011e-01 -3.54505727e-03 -4.15558995e+01] [-1.15253775e-02 7.02225686e-05 9.99933578e-01 -4.31421932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.708623853 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:207.12, Y:-41.57, Z:-4.31 [[ 9.52917113e-01 3.03048360e-01 1.05198592e-02 2.07115212e+02] [-3.03029256e-01 9.52975177e-01 -3.40317045e-03 -4.15670967e+01] [-1.10564899e-02 5.51142520e-05 9.99938874e-01 -4.31443377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.738623853 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:207.15, Y:-41.58, Z:-4.32 [[ 9.51912146e-01 3.06189804e-01 1.05389868e-02 2.07145759e+02] [-3.06170814e-01 9.51970484e-01 -3.41018336e-03 -4.15790342e+01] [-1.10769677e-02 1.94648011e-05 9.99938648e-01 -4.31511855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.768623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:207.18, Y:-41.59, Z:-4.32 [[ 9.51373085e-01 3.07853264e-01 1.07526704e-02 2.07176551e+02] [-3.07833579e-01 9.51433848e-01 -3.48138815e-03 -4.15894569e+01] [-1.13022113e-02 2.06595905e-06 9.99936128e-01 -4.31606373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.798623853 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:207.21, Y:-41.60, Z:-4.32 [[ 9.50314736e-01 3.11104176e-01 1.07747517e-02 2.07208047e+02] [-3.11084592e-01 9.50375816e-01 -3.49079543e-03 -4.16002879e+01] [-1.13260644e-02 -3.45048964e-05 9.99935857e-01 -4.31638543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.828623853 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:207.24, Y:-41.61, Z:-4.31 [[ 9.49614522e-01 3.13249183e-01 1.03542041e-02 2.07238519e+02] [-3.13231203e-01 9.49670967e-01 -3.35667743e-03 -4.16102385e+01] [-1.08845635e-02 -5.57101867e-05 9.99940760e-01 -4.30910082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.858623853 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:207.27, Y:-41.62, Z:-4.32 [[ 9.49086080e-01 3.14818575e-01 1.11748296e-02 2.07270019e+02] [-3.14797713e-01 9.49151863e-01 -3.62508614e-03 -4.16206106e+01] [-1.17478548e-02 -7.72920098e-05 9.99930989e-01 -4.31736877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.888623853 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:207.30, Y:-41.63, Z:-4.32 [[ 9.48551298e-01 3.16408974e-01 1.16531414e-02 2.07301734e+02] [-3.16386377e-01 9.48622871e-01 -3.78274287e-03 -4.16309340e+01] [-1.22513303e-02 -9.87695398e-05 9.99924945e-01 -4.31807718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.918623853 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:207.33, Y:-41.64, Z:-4.32 [[ 9.48047428e-01 3.17907429e-01 1.18718245e-02 2.07331958e+02] [-3.17884060e-01 9.48121750e-01 -3.85642099e-03 -4.16405773e+01] [-1.24819199e-02 -1.17793776e-04 9.99922091e-01 -4.31840468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94862385300002 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:207.36, Y:-41.65, Z:-4.32 [[ 9.47373998e-01 3.19901002e-01 1.20771192e-02 2.07363580e+02] [-3.19876948e-01 9.47450963e-01 -3.92553135e-03 -4.16498742e+01] [-1.26982596e-02 -1.44245699e-04 9.99919363e-01 -4.31879639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97862385300002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:207.40, Y:-41.66, Z:-4.32 [[ 9.47109225e-01 3.20678046e-01 1.22354817e-02 2.07395531e+02] [-3.20653390e-01 9.47188242e-01 -3.97951209e-03 -4.16594891e+01] [-1.28654466e-02 -1.54316092e-04 9.99917225e-01 -4.31950946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00862385300002 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:207.43, Y:-41.67, Z:-4.32 [[ 9.46803830e-01 3.21594062e-01 1.18222546e-02 2.07426252e+02] [-3.21571085e-01 9.46877623e-01 -3.84755303e-03 -4.16676407e+01] [-1.24315785e-02 -1.58817286e-04 9.99922712e-01 -4.32030810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03862385300002 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:207.46, Y:-41.68, Z:-4.32 [[ 9.46737818e-01 3.21797701e-01 1.15647971e-02 2.07456479e+02] [-3.21775701e-01 9.46808437e-01 -3.76596437e-03 -4.16769383e+01] [-1.21615261e-02 -1.55889803e-04 9.99926034e-01 -4.32128338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06862385300002 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:207.49, Y:-41.69, Z:-4.32 [[ 9.46697499e-01 3.21922195e-01 1.13993676e-02 2.07487630e+02] [-3.21900805e-01 9.46766115e-01 -3.71416039e-03 -4.16865553e+01] [-1.19882057e-02 -1.53279265e-04 9.99928127e-01 -4.32240888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09862385300002 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:207.52, Y:-41.70, Z:-4.32 [[ 9.46758372e-01 3.21754015e-01 1.10878100e-02 2.07518491e+02] [-3.21733740e-01 9.46823285e-01 -3.61491601e-03 -4.16962472e+01] [-1.16613104e-02 -1.44870571e-04 9.99931994e-01 -4.32293938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12862385300002 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:207.55, Y:-41.70, Z:-4.32 [[ 9.47025245e-01 3.20987814e-01 1.04885421e-02 2.07549633e+02] [-3.20969604e-01 9.47083316e-01 -3.42137568e-03 -4.17046028e+01] [-1.10317432e-02 -1.26374076e-04 9.99939140e-01 -4.32358434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15862385300002 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:207.58, Y:-41.71, Z:-4.32 [[ 9.47187740e-01 3.20506230e-01 1.05423561e-02 2.07581515e+02] [-3.20487782e-01 9.47246400e-01 -3.44085565e-03 -4.17137658e+01] [-1.10890245e-02 -1.19560024e-04 9.99938508e-01 -4.32449808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18862385300002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:207.61, Y:-41.72, Z:-4.32 [[ 9.47373316e-01 3.19953659e-01 1.06515731e-02 2.07612712e+02] [-3.19934767e-01 9.47433187e-01 -3.47867923e-03 -4.17230148e+01] [-1.12046700e-02 -1.12200681e-04 9.99937219e-01 -4.32457493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21862385300003 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:207.64, Y:-41.73, Z:-4.33 [[ 9.47837862e-01 3.18555293e-01 1.12210692e-02 2.07642768e+02] [-3.18534198e-01 9.47904276e-01 -3.66729583e-03 -4.17329881e+01] [-1.18047359e-02 -9.82924264e-05 9.99930317e-01 -4.32519899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24862385300003 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:207.67, Y:-41.74, Z:-4.33 [[ 9.48071299e-01 3.17846852e-01 1.15840621e-02 2.07673566e+02] [-3.17824289e-01 9.48142063e-01 -3.78824583e-03 -4.17434466e+01] [-1.21874186e-02 -9.01691586e-05 9.99925727e-01 -4.32528051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27862385300003 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:207.70, Y:-41.75, Z:-4.33 [[ 9.48315496e-01 3.17105008e-01 1.19220250e-02 2.07704450e+02] [-3.17081018e-01 9.48390430e-01 -3.90134658e-03 -4.17534914e+01] [-1.25438709e-02 -8.05404052e-05 9.99921319e-01 -4.32530485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30862385300003 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:207.74, Y:-41.76, Z:-4.33 [[ 9.48816422e-01 3.15587050e-01 1.23373744e-02 2.07736487e+02] [-3.15561200e-01 9.48896628e-01 -4.03961980e-03 -4.17628612e+01] [-1.29817447e-02 -6.03390739e-05 9.99915732e-01 -4.32595588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33862385300003 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:207.77, Y:-41.77, Z:-4.33 [[ 9.48999511e-01 3.15032131e-01 1.24372520e-02 2.07767330e+02] [-3.15005780e-01 9.49081005e-01 -4.07490139e-03 -4.17719534e+01] [-1.30876845e-02 -5.07268544e-05 9.99914351e-01 -4.32652114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.368623853 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:207.80, Y:-41.78, Z:-4.33 [[ 9.49145046e-01 3.14586484e-01 1.26105632e-02 2.07798824e+02] [-3.14559324e-01 9.49228814e-01 -4.13393695e-03 -4.17813770e+01] [-1.32707906e-02 -4.30644579e-05 9.99911938e-01 -4.32726195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.398623853 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:207.83, Y:-41.79, Z:-4.33 [[ 9.49254726e-01 3.14261013e-01 1.24691839e-02 2.07829480e+02] [-3.14234390e-01 9.49336618e-01 -4.09062492e-03 -4.17912635e+01] [-1.31229768e-02 -3.52013571e-05 9.99913889e-01 -4.32795830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.428623853 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:207.86, Y:-41.80, Z:-4.32 [[ 9.49203799e-01 3.14444225e-01 1.17037408e-02 2.07860932e+02] [-3.14420774e-01 9.49275950e-01 -3.84039050e-03 -4.18018343e+01] [-1.23176683e-02 -3.45859892e-05 9.99924134e-01 -4.32160417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.458623853 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:207.89, Y:-41.81, Z:-4.33 [[ 9.49279891e-01 3.14199663e-01 1.20938203e-02 2.07891385e+02] [-3.14174569e-01 9.49356925e-01 -3.97109817e-03 -4.18114449e+01] [-1.27290698e-02 -2.98871400e-05 9.99918982e-01 -4.32909593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.488623853 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:207.92, Y:-41.82, Z:-4.33 [[ 9.49276323e-01 3.14215622e-01 1.19584585e-02 2.07922012e+02] [-3.14191059e-01 9.49351643e-01 -3.92893922e-03 -4.18211162e+01] [-1.25873164e-02 -2.75917709e-05 9.99920776e-01 -4.32931917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.518623853 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:207.95, Y:-41.83, Z:-4.33 [[ 9.49428808e-01 3.13792699e-01 1.09123868e-02 2.07953975e+02] [-3.13772198e-01 9.49491518e-01 -3.58690540e-03 -4.18295526e+01] [-1.14867634e-02 -1.84922696e-05 9.99934025e-01 -4.33067021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.548623853 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:207.99, Y:-41.84, Z:-4.33 [[ 9.49550683e-01 3.13432942e-01 1.06437959e-02 2.07985269e+02] [-3.13413392e-01 9.49610336e-01 -3.50074618e-03 -4.18388183e+01] [-1.12047078e-02 -1.17722575e-05 9.99937225e-01 -4.33171510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.578623853 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:208.02, Y:-41.85, Z:-4.33 [[ 9.49713480e-01 3.12946311e-01 1.04361422e-02 2.08016907e+02] [-3.12927463e-01 9.49770818e-01 -3.43459304e-03 -4.18483239e+01] [-1.09867865e-02 -3.87619618e-06 9.99939643e-01 -4.33291676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.608623853 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:208.05, Y:-41.86, Z:-4.33 [[ 9.50019556e-01 3.12015518e-01 1.04479870e-02 2.08047569e+02] [-3.11996546e-01 9.50077005e-01 -3.44082539e-03 -4.18578965e+01] [-1.09999831e-02 9.11556591e-06 9.99939498e-01 -4.33354123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.638623853 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:208.08, Y:-41.87, Z:-4.33 [[ 9.50136272e-01 3.11649585e-01 1.07518034e-02 2.08078964e+02] [-3.11629446e-01 9.50197104e-01 -3.54294982e-03 -4.18679375e+01] [-1.13204913e-02 1.57066052e-05 9.99935921e-01 -4.33464028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.668623853 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:208.11, Y:-41.88, Z:-4.33 [[ 9.50299336e-01 3.11158002e-01 1.05768254e-02 2.08109756e+02] [-3.11138457e-01 9.50358194e-01 -3.48763405e-03 -4.18776602e+01] [-1.11369779e-02 2.34391996e-05 9.99937982e-01 -4.33457427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69862385300002 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:208.14, Y:-41.89, Z:-4.34 [[ 9.50456762e-01 3.10673179e-01 1.06826484e-02 2.08141116e+02] [-3.10653186e-01 9.50516794e-01 -3.52465306e-03 -4.18876988e+01] [-1.12490519e-02 3.14315620e-05 9.99936727e-01 -4.33546062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72862385300002 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:208.17, Y:-41.90, Z:-4.34 [[ 9.50824329e-01 3.09558903e-01 1.03141604e-02 2.08171804e+02] [-3.09540176e-01 9.50880268e-01 -3.40526407e-03 -4.18964096e+01] [-1.08616614e-02 4.51609022e-05 9.99941009e-01 -4.33563023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75862385300002 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:208.20, Y:-41.91, Z:-4.34 [[ 9.50882684e-01 3.09393201e-01 9.89790856e-03 2.08203677e+02] [-3.09375927e-01 9.50934196e-01 -3.26967102e-03 -4.19065526e+01] [-1.04238737e-02 4.68989184e-05 9.99945669e-01 -4.33686228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78862385300002 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:208.23, Y:-41.92, Z:-4.34 [[ 9.50903148e-01 3.09339677e-01 9.60035221e-03 2.08234756e+02] [-3.09323406e-01 9.50951609e-01 -3.17308316e-03 -4.19165921e+01] [-1.01110309e-02 4.76811185e-05 9.99948881e-01 -4.33848357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81862385300002 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:208.27, Y:-41.93, Z:-4.34 [[ 9.50842283e-01 3.09531419e-01 9.44741341e-03 2.08266027e+02] [-3.09515652e-01 9.50889215e-01 -3.12448398e-03 -4.19266503e+01] [-9.95056948e-03 4.67691512e-05 9.99950491e-01 -4.33876904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84862385300002 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:208.30, Y:-41.94, Z:-4.34 [[ 9.50536796e-01 3.10460652e-01 9.69450970e-03 2.08297106e+02] [-3.10444075e-01 9.50586231e-01 -3.20847228e-03 -4.19357422e+01] [-1.02115718e-02 4.01678573e-05 9.99947860e-01 -4.33878983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87862385300002 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:208.33, Y:-41.95, Z:-4.34 [[ 9.50338202e-01 3.11066502e-01 9.74340962e-03 2.08329154e+02] [-3.11049770e-01 9.50388147e-01 -3.22650237e-03 -4.19454255e+01] [-1.02636778e-02 3.55831390e-05 9.99947326e-01 -4.33938120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90862385300002 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:208.36, Y:-41.96, Z:-4.34 [[ 9.50025774e-01 3.12016162e-01 9.84597794e-03 2.08361125e+02] [-3.11999106e-01 9.50076794e-01 -3.26256661e-03 -4.19550326e+01] [-1.03724087e-02 2.75860584e-05 9.99946205e-01 -4.34053644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93862385300002 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:208.39, Y:-41.96, Z:-4.34 [[ 9.49533009e-01 3.13502179e-01 1.01709670e-02 2.08391808e+02] [-3.13484031e-01 9.49587481e-01 -3.37315550e-03 -4.19630117e+01] [-1.07157146e-02 1.44867340e-05 9.99942585e-01 -4.34051855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96862385300003 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:208.42, Y:-41.97, Z:-4.34 [[ 9.49297360e-01 3.14205474e-01 1.04614496e-02 2.08423208e+02] [-3.14186309e-01 9.49355002e-01 -3.47032864e-03 -4.19724345e+01] [-1.10220258e-02 7.52956082e-06 9.99939256e-01 -4.34134490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99862385300003 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:208.45, Y:-41.98, Z:-4.34 [[ 9.49124692e-01 3.14710903e-01 1.09254816e-02 2.08454546e+02] [-3.14690006e-01 9.49187572e-01 -3.62667145e-03 -4.19819456e+01] [-1.15116844e-02 4.02355565e-06 9.99933738e-01 -4.34207149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02862385300003 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:208.49, Y:-41.99, Z:-4.34 [[ 9.49002081e-01 3.15064406e-01 1.13784856e-02 2.08485187e+02] [-3.15041729e-01 9.49070293e-01 -3.78007691e-03 -4.19907262e+01] [-1.19899503e-02 2.60309189e-06 9.99928118e-01 -4.34231565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05862385300003 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:208.52, Y:-42.00, Z:-4.34 [[ 9.49054300e-01 3.14905528e-01 1.14212251e-02 2.08515912e+02] [-3.14882656e-01 9.49123021e-01 -3.79531483e-03 -4.20006296e+01] [-1.20353133e-02 5.61415752e-06 9.99927573e-01 -4.34293449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08862385300003 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:208.55, Y:-42.01, Z:-4.34 [[ 9.49036391e-01 3.14959531e-01 1.14203083e-02 2.08546867e+02] [-3.14936630e-01 9.49105102e-01 -3.79807134e-03 -4.20110241e+01] [-1.20353116e-02 7.83451887e-06 9.99927573e-01 -4.34356532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.118623853 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:208.58, Y:-42.02, Z:-4.34 [[ 9.49198614e-01 3.14460264e-01 1.16933158e-02 2.08578626e+02] [-3.14436219e-01 9.49270637e-01 -3.88871116e-03 -4.20213164e+01] [-1.23229665e-02 1.43572221e-05 9.99924069e-01 -4.34431962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.148623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:208.61, Y:-42.03, Z:-4.34 [[ 9.49595159e-01 3.13244463e-01 1.21218681e-02 2.08610491e+02] [-3.13218492e-01 9.49672525e-01 -4.03375360e-03 -4.20305465e+01] [-1.27753561e-02 3.36396332e-05 9.99918391e-01 -4.34463399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.178623853 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:208.64, Y:-42.04, Z:-4.35 [[ 9.49750747e-01 3.12772548e-01 1.21182314e-02 2.08640609e+02] [-3.12746520e-01 9.49828053e-01 -4.03520957e-03 -4.20399915e+01] [-1.27723390e-02 4.25085904e-05 9.99918429e-01 -4.34568121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.208623853 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:208.67, Y:-42.05, Z:-4.35 [[ 9.49903752e-01 3.12303281e-01 1.22279323e-02 2.08671565e+02] [-3.12276710e-01 9.49982451e-01 -4.07413190e-03 -4.20501752e+01] [-1.28886858e-02 5.15347177e-05 9.99916936e-01 -4.34677443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.238623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:208.70, Y:-42.06, Z:-4.35 [[ 9.50347775e-01 3.10968900e-01 1.17238549e-02 2.08702076e+02] [-3.10944343e-01 9.50420085e-01 -3.90858899e-03 -4.20611767e+01] [-1.23580368e-02 6.90524904e-05 9.99923634e-01 -4.34739573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.268623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:208.73, Y:-42.07, Z:-4.35 [[ 9.50503837e-01 3.10487556e-01 1.18293532e-02 2.08733479e+02] [-3.10462489e-01 9.50577441e-01 -3.94605589e-03 -4.20722766e+01] [-1.24699176e-02 7.81708231e-05 9.99922244e-01 -4.34814602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.298623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:208.76, Y:-42.08, Z:-4.35 [[ 9.50752988e-01 3.09728218e-01 1.17127133e-02 2.08764008e+02] [-3.09703549e-01 9.50825127e-01 -3.91005883e-03 -4.20830192e+01] [-1.23477977e-02 9.00312296e-05 9.99923759e-01 -4.34902440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.328623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:208.79, Y:-42.09, Z:-4.35 [[ 9.50922916e-01 3.09201120e-01 1.18437904e-02 2.08794829e+02] [-3.09175842e-01 9.50996665e-01 -3.95488442e-03 -4.20944004e+01] [-1.24862598e-02 9.89763540e-05 9.99922039e-01 -4.34958954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.358623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:208.83, Y:-42.10, Z:-4.35 [[ 9.50929767e-01 3.09177710e-01 1.19047228e-02 2.08825291e+02] [-3.09152138e-01 9.51004276e-01 -3.97779797e-03 -4.21045930e+01] [-1.25512888e-02 1.02235988e-04 9.99921224e-01 -4.35020738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.388623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:208.86, Y:-42.12, Z:-4.35 [[ 9.50921192e-01 3.09202380e-01 1.19488753e-02 2.08856191e+02] [-3.09176590e-01 9.50996255e-01 -3.99480352e-03 -4.21150600e+01] [-1.25985384e-02 1.04430799e-04 9.99920630e-01 -4.35108599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.418623853 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:208.89, Y:-42.13, Z:-4.35 [[ 9.50958394e-01 3.09100509e-01 1.16192976e-02 2.08887263e+02] [-3.09076087e-01 9.51029371e-01 -3.88689293e-03 -4.21254786e+01] [-1.22517339e-02 1.05026415e-04 9.99924939e-01 -4.35143289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:208.92, Y:-42.14, Z:-4.35 [[ 9.50898716e-01 3.09286180e-01 1.15624604e-02 2.08918001e+02] [-3.09261982e-01 9.50969005e-01 -3.87016695e-03 -4.21369717e+01] [-1.21925306e-02 1.04307360e-04 9.99925663e-01 -4.35276983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47862385300002 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:208.95, Y:-42.15, Z:-4.35 [[ 9.50933321e-01 3.09182431e-01 1.14910402e-02 2.08948546e+02] [-3.09158495e-01 9.51002741e-01 -3.84864385e-03 -4.21484664e+01] [-1.21179438e-02 1.07250976e-04 9.99926569e-01 -4.35341319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:208.98, Y:-42.16, Z:-4.35 [[ 9.50901052e-01 3.09290008e-01 1.12641442e-02 2.08978692e+02] [-3.09266987e-01 9.50967760e-01 -3.77509069e-03 -4.21599626e+01] [-1.18794358e-02 1.06109765e-04 9.99929431e-01 -4.35428078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53862385300002 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:209.01, Y:-42.17, Z:-4.35 [[ 9.50754029e-01 3.09733501e-01 1.14863037e-02 2.09008667e+02] [-3.09709565e-01 9.50823405e-01 -3.85196981e-03 -4.21712128e+01] [-1.21145305e-02 1.04857698e-04 9.99926611e-01 -4.35470010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:209.04, Y:-42.18, Z:-4.36 [[ 9.50604186e-01 3.10179631e-01 1.18439384e-02 2.09040355e+02] [-3.10154187e-01 9.50677961e-01 -3.97425326e-03 -4.21819339e+01] [-1.24925037e-02 1.04494689e-04 9.99921960e-01 -4.35528639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59862385300002 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:209.07, Y:-42.19, Z:-4.36 [[ 9.50325833e-01 3.11033205e-01 1.17964665e-02 2.09071482e+02] [-3.11008000e-01 9.50399040e-01 -3.96076816e-03 -4.21929490e+01] [-1.24432808e-02 9.52248588e-05 9.99922575e-01 -4.35528113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62862385300002 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:209.10, Y:-42.20, Z:-4.35 [[ 9.49987886e-01 3.12058684e-01 1.19329189e-02 2.09102750e+02] [-3.12032942e-01 9.50062825e-01 -4.00907361e-03 -4.22039474e+01] [-1.25880889e-02 8.51075651e-05 9.99920763e-01 -4.35247053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:209.13, Y:-42.21, Z:-4.36 [[ 9.49167683e-01 3.14556702e-01 1.16099731e-02 2.09132847e+02] [-3.14532486e-01 9.49238684e-01 -3.90343601e-03 -4.22142828e+01] [-1.22484876e-02 5.33016069e-05 9.99924983e-01 -4.35710450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68862385300002 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:209.16, Y:-42.23, Z:-4.36 [[ 9.48549128e-01 3.16420684e-01 1.15109275e-02 2.09163809e+02] [-3.16397005e-01 9.48618970e-01 -3.87109677e-03 -4.22251008e+01] [-1.21443793e-02 2.99024829e-05 9.99926254e-01 -4.35766092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71862385300003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:209.19, Y:-42.24, Z:-4.36 [[ 9.47939790e-01 3.18224567e-01 1.19699370e-02 2.09194762e+02] [-3.18199072e-01 9.48015361e-01 -4.02810058e-03 -4.22355000e+01] [-1.26295247e-02 9.57398181e-06 9.99920244e-01 -4.35816387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74862385300003 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:209.23, Y:-42.24, Z:-4.36 [[ 9.46861241e-01 3.21412105e-01 1.21675061e-02 2.09225682e+02] [-3.21385985e-01 9.46939416e-01 -4.09764786e-03 -4.22445968e+01] [-1.28389248e-02 -3.05620011e-05 9.99917577e-01 -4.35866499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77862385300003 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:209.26, Y:-42.25, Z:-4.36 [[ 9.46421779e-01 3.22700725e-01 1.22498233e-02 2.09256159e+02] [-3.22674342e-01 9.46501051e-01 -4.12659390e-03 -4.22540671e+01] [-1.29261254e-02 -4.72053171e-05 9.99916453e-01 -4.35951691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80862385300003 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:209.29, Y:-42.26, Z:-4.36 [[ 9.46074654e-01 3.23713227e-01 1.23489265e-02 2.09286616e+02] [-3.23686470e-01 9.46155243e-01 -4.16244490e-03 -4.22636389e+01] [-1.30314400e-02 -5.91967988e-05 9.99915085e-01 -4.36023256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83862385300003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:209.32, Y:-42.27, Z:-4.36 [[ 9.45634874e-01 3.25000139e-01 1.22309363e-02 2.09316343e+02] [-3.24973970e-01 9.45713965e-01 -4.12488838e-03 -4.22731174e+01] [-1.29075565e-02 -7.40976103e-05 9.99916691e-01 -4.36136418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.868623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:209.35, Y:-42.28, Z:-4.36 [[ 9.45562777e-01 3.25216104e-01 1.20631766e-02 2.09345999e+02] [-3.25190630e-01 9.45639720e-01 -4.07111097e-03 -4.22827736e+01] [-1.27314098e-02 -7.33409834e-05 9.99918950e-01 -4.36212358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.898623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:209.37, Y:-42.29, Z:-4.36 [[ 9.45558811e-01 3.25225258e-01 1.21270919e-02 2.09374789e+02] [-3.25199513e-01 9.45636572e-01 -4.09275447e-03 -4.22919821e+01] [-1.27988888e-02 -7.37843265e-05 9.99918088e-01 -4.36262477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.928623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:209.40, Y:-42.30, Z:-4.36 [[ 9.45625817e-01 3.25018420e-01 1.24435413e-02 2.09403938e+02] [-3.24991280e-01 9.45707683e-01 -4.20072870e-03 -4.23013194e+01] [-1.31332668e-02 -7.17249183e-05 9.99913752e-01 -4.36303016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.958623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.43, Y:-42.31, Z:-4.36 [[ 9.45904557e-01 3.24199367e-01 1.26230135e-02 2.09432829e+02] [-3.24171365e-01 9.45988777e-01 -4.26138557e-03 -4.23094480e+01] [-1.33227677e-02 -6.11555018e-05 9.99911246e-01 -4.36347580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.988623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:209.46, Y:-42.32, Z:-4.36 [[ 9.46181699e-01 3.23389842e-01 1.26175811e-02 2.09460754e+02] [-3.23361794e-01 9.46265823e-01 -4.25939447e-03 -4.23182447e+01] [-1.33170306e-02 -4.98825566e-05 9.99911323e-01 -4.36433715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.018623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:209.49, Y:-42.33, Z:-4.36 [[ 9.46517446e-01 3.22409217e-01 1.25308296e-02 2.09490100e+02] [-3.22381470e-01 9.46600389e-01 -4.22988726e-03 -4.23279366e+01] [-1.32254428e-02 -3.60451706e-05 9.99912539e-01 -4.36491313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.048623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:209.52, Y:-42.34, Z:-4.37 [[ 9.46995296e-01 3.21009461e-01 1.23626771e-02 2.09519150e+02] [-3.20982335e-01 9.47075987e-01 -4.17312598e-03 -4.23378108e+01] [-1.30480076e-02 -1.62702910e-05 9.99914871e-01 -4.36593456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.078623853 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:209.55, Y:-42.35, Z:-4.37 [[ 9.48091389e-01 3.17721118e-01 1.32668770e-02 2.09547646e+02] [-3.17689556e-01 9.48184207e-01 -4.47834629e-03 -4.23477030e+01] [-1.40023085e-02 3.11332784e-05 9.99901962e-01 -4.36649069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.108623853 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:209.58, Y:-42.36, Z:-4.37 [[ 9.48666654e-01 3.15981103e-01 1.36938378e-02 2.09576289e+02] [-3.15947296e-01 9.48765482e-01 -4.62247049e-03 -4.23577055e+01] [-1.44528539e-02 5.86526026e-05 9.99895550e-01 -4.36655794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.138623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:209.60, Y:-42.37, Z:-4.37 [[ 9.49138299e-01 3.14551452e-01 1.39238858e-02 2.09604734e+02] [-3.14516345e-01 9.49240421e-01 -4.70012515e-03 -4.23678283e+01] [-1.46955464e-02 8.17791178e-05 9.99892011e-01 -4.36672383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.168623853 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:209.63, Y:-42.38, Z:-4.37 [[ 9.49878279e-01 3.12329948e-01 1.34632166e-02 2.09632570e+02] [-3.12296904e-01 9.49973679e-01 -4.54456980e-03 -4.23779603e+01] [-1.42091066e-02 1.12267290e-04 9.99899039e-01 -4.36789499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19862385300002 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:209.66, Y:-42.39, Z:-4.36 [[ 9.50236117e-01 3.11272636e-01 1.26755105e-02 2.09660280e+02] [-3.11243248e-01 9.50320647e-01 -4.27893061e-03 -4.23874407e+01] [-1.33777133e-02 1.20827358e-04 9.99910507e-01 -4.36416288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22862385300002 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:209.69, Y:-42.40, Z:-4.37 [[ 9.50369381e-01 3.10870602e-01 1.25502662e-02 2.09688756e+02] [-3.10841760e-01 9.50452236e-01 -4.23643568e-03 -4.23977797e+01] [-1.32454119e-02 1.25031932e-04 9.99912268e-01 -4.36928545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25862385300002 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:209.72, Y:-42.41, Z:-4.37 [[ 9.50528172e-01 3.10364540e-01 1.30401634e-02 2.09717139e+02] [-3.10333354e-01 9.50617606e-01 -4.40180414e-03 -4.24082169e+01] [-1.37623729e-02 1.37241193e-04 9.99905285e-01 -4.36981977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28862385300002 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:209.74, Y:-42.42, Z:-4.37 [[ 9.50345137e-01 3.10930002e-01 1.29095071e-02 2.09744874e+02] [-3.10899489e-01 9.50432805e-01 -4.35776442e-03 -4.24178223e+01] [-1.36245787e-02 1.27821070e-04 9.99907173e-01 -4.36968738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31862385300002 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:209.77, Y:-42.43, Z:-4.37 [[ 9.50104973e-01 3.11660927e-01 1.29617523e-02 2.09774107e+02] [-3.11630238e-01 9.50193377e-01 -4.37518072e-03 -4.24278732e+01] [-1.36797441e-02 1.17606996e-04 9.99906421e-01 -4.37003042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34862385300002 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:209.80, Y:-42.44, Z:-4.37 [[ 9.49343670e-01 3.13963814e-01 1.31651043e-02 2.09800194e+02] [-3.13932371e-01 9.49434946e-01 -4.44412579e-03 -4.24362250e+01] [-1.38947048e-02 8.60502807e-05 9.99903460e-01 -4.37098982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37862385300002 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:209.83, Y:-42.44, Z:-4.37 [[ 9.48828574e-01 3.15509253e-01 1.33509490e-02 2.09827350e+02] [-3.15477082e-01 9.48922498e-01 -4.50599093e-03 -4.24448390e+01] [-1.40906977e-02 6.34945250e-05 9.99900719e-01 -4.37169372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40862385300002 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:209.85, Y:-42.45, Z:-4.37 [[ 9.48216741e-01 3.17350425e-01 1.31802657e-02 2.09853398e+02] [-3.17319256e-01 9.48308339e-01 -4.44782937e-03 -4.24532089e+01] [-1.39104765e-02 3.51541488e-05 9.99903244e-01 -4.37205607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43862385300002 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:209.88, Y:-42.46, Z:-4.37 [[ 9.46904463e-01 3.21226204e-01 1.36258163e-02 2.09880933e+02] [-3.21193306e-01 9.47002495e-01 -4.59729321e-03 -4.24611469e+01] [-1.43804530e-02 -2.33235031e-05 9.99896596e-01 -4.37215303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46862385300003 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:209.91, Y:-42.47, Z:-4.37 [[ 9.46205801e-01 3.23280621e-01 1.35728424e-02 2.09907518e+02] [-3.23248197e-01 9.46303142e-01 -4.57886619e-03 -4.24689947e+01] [-1.43242821e-02 -5.48470665e-05 9.99897401e-01 -4.37227163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49862385300003 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:209.94, Y:-42.48, Z:-4.37 [[ 9.45582441e-01 3.25080339e-01 1.40221513e-02 2.09935545e+02] [-3.25045945e-01 9.45686399e-01 -4.72944833e-03 -4.24770794e+01] [-1.47980084e-02 -8.57601119e-05 9.99890500e-01 -4.37322471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52862385300003 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:209.96, Y:-42.48, Z:-4.37 [[ 9.44250247e-01 3.28943614e-01 1.36955908e-02 2.09962310e+02] [-3.28911216e-01 9.44349553e-01 -4.61884987e-03 -4.24832532e+01] [-1.44527663e-02 -1.43283296e-04 9.99895543e-01 -4.37339982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55862385300003 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:209.99, Y:-42.49, Z:-4.37 [[ 9.43738509e-01 3.30407457e-01 1.37309792e-02 2.09989661e+02] [-3.30375063e-01 9.43838378e-01 -4.62962438e-03 -4.24910056e+01] [-1.44894876e-02 -1.67218323e-04 9.99895008e-01 -4.37474856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58862385300003 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:210.02, Y:-42.50, Z:-4.38 [[ 9.43196101e-01 3.31979184e-01 1.30742643e-02 2.10016856e+02] [-3.31949977e-01 9.43286695e-01 -4.40736377e-03 -4.24983476e+01] [-1.37959326e-02 -1.82993412e-04 9.99904815e-01 -4.37528175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.618623853 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:210.05, Y:-42.50, Z:-4.38 [[ 9.42452522e-01 3.34112501e-01 1.23320695e-02 2.10045030e+02] [-3.34086708e-01 9.42533180e-01 -4.15639026e-03 -4.25028430e+01] [-1.30120866e-02 -2.02780021e-04 9.99915319e-01 -4.37621019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.648623853 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:210.07, Y:-42.51, Z:-4.38 [[ 9.42254761e-01 3.34661976e-01 1.25430094e-02 2.10072459e+02] [-3.34635354e-01 9.42338217e-01 -4.22660837e-03 -4.25100566e+01] [-1.32342422e-02 -2.14792536e-04 9.99912401e-01 -4.37728960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.678623853 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:210.10, Y:-42.52, Z:-4.37 [[ 9.42134218e-01 3.35025113e-01 1.18864811e-02 2.10099269e+02] [-3.35001243e-01 9.42209175e-01 -4.00463181e-03 -4.25177714e+01] [-1.25412038e-02 -2.09085304e-04 9.99921334e-01 -4.36910815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.708623853 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:210.13, Y:-42.53, Z:-4.38 [[ 9.42104634e-01 3.35087793e-01 1.24511125e-02 2.10127238e+02] [-3.35061621e-01 9.42186883e-01 -4.19383763e-03 -4.25256517e+01] [-1.31365787e-02 -2.20856087e-04 9.99913687e-01 -4.37750343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.738623853 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:210.15, Y:-42.53, Z:-4.38 [[ 9.42168127e-01 3.34898119e-01 1.27463991e-02 2.10154330e+02] [-3.34870681e-01 9.42254318e-01 -4.29270654e-03 -4.25328189e+01] [-1.34479689e-02 -2.23944055e-04 9.99909547e-01 -4.37817095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.768623853 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:210.18, Y:-42.54, Z:-4.38 [[ 9.42310891e-01 3.34467752e-01 1.34724604e-02 2.10184391e+02] [-3.34437072e-01 9.42407167e-01 -4.53602829e-03 -4.25394344e+01] [-1.42136985e-02 -2.31341357e-04 9.99898954e-01 -4.37867582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.798623853 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:210.21, Y:-42.55, Z:-4.38 [[ 9.42488627e-01 3.33958571e-01 1.36697197e-02 2.10212891e+02] [-3.33926932e-01 9.42587726e-01 -4.60250343e-03 -4.25475159e+01] [-1.44219555e-02 -2.26880428e-04 9.99895972e-01 -4.37920721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.828623853 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:210.24, Y:-42.55, Z:-4.38 [[ 9.42952258e-01 3.32653653e-01 1.35124765e-02 2.10240120e+02] [-3.32622602e-01 9.43049047e-01 -4.54965150e-03 -4.25529509e+01] [-1.42563863e-02 -2.04450935e-04 9.99898352e-01 -4.37982200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.858623853 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:210.27, Y:-42.56, Z:-4.38 [[ 9.43346721e-01 3.31540230e-01 1.33431745e-02 2.10267685e+02] [-3.31509855e-01 9.43441064e-01 -4.49166487e-03 -4.25599794e+01] [-1.40776663e-02 -1.86196507e-04 9.99900887e-01 -4.38062994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.888623853 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:210.30, Y:-42.57, Z:-4.38 [[ 9.43835690e-01 3.30151613e-01 1.31948093e-02 2.10297507e+02] [-3.30121789e-01 9.43927902e-01 -4.44066383e-03 -4.25684067e+01] [-1.39210410e-02 -1.64637048e-04 9.99903084e-01 -4.38141270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.918623853 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:210.33, Y:-42.58, Z:-4.38 [[ 9.44356307e-01 3.28666375e-01 1.30222954e-02 2.10326764e+02] [-3.28637177e-01 9.44446078e-01 -4.38309004e-03 -4.25771794e+01] [-1.37394301e-02 -1.40411682e-04 9.99905600e-01 -4.38196395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94862385300002 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:210.36, Y:-42.58, Z:-4.38 [[ 9.45463292e-01 3.25484283e-01 1.26152452e-02 2.10355179e+02] [-3.25456598e-01 9.45547446e-01 -4.24615934e-03 -4.25847871e+01] [-1.33103710e-02 -9.11269929e-05 9.99911409e-01 -4.38280774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97862385300002 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:210.38, Y:-42.59, Z:-4.38 [[ 9.45475359e-01 3.25449231e-01 1.26152482e-02 2.10383782e+02] [-3.25421542e-01 9.45559512e-01 -4.24615032e-03 -4.25943639e+01] [-1.33103743e-02 -9.06430351e-05 9.99911409e-01 -4.38338980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00862385300002 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:210.41, Y:-42.60, Z:-4.38 [[ 9.46015191e-01 3.23876730e-01 1.26143588e-02 2.10411824e+02] [-3.23848917e-01 9.46099286e-01 -4.24501221e-03 -4.26025188e+01] [-1.33092965e-02 -6.93003985e-05 9.99911425e-01 -4.38413006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03862385300002 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:210.44, Y:-42.61, Z:-4.38 [[ 9.46553540e-01 3.22313817e-01 1.22556100e-02 2.10440659e+02] [-3.22287427e-01 9.46632876e-01 -4.12470563e-03 -4.26102691e+01] [-1.29310130e-02 -4.55743124e-05 9.99916390e-01 -4.37674747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06862385300002 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:210.47, Y:-42.62, Z:-4.39 [[ 9.46860537e-01 3.21390654e-01 1.27738215e-02 2.10467136e+02] [-3.21361903e-01 9.46946697e-01 -4.29900534e-03 -4.26176001e+01] [-1.34777883e-02 -3.44610908e-05 9.99909170e-01 -4.38503276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09862385300002 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:210.50, Y:-42.62, Z:-4.39 [[ 9.47302000e-01 3.20074229e-01 1.30923531e-02 2.10495661e+02] [-3.20043914e-01 9.47392468e-01 -4.40515549e-03 -4.26242881e+01] [-1.38135734e-02 -1.71153085e-05 9.99904588e-01 -4.38555293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12862385300002 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:210.52, Y:-42.63, Z:-4.39 [[ 9.47411757e-01 3.19737314e-01 1.33795493e-02 2.10522362e+02] [-3.19705630e-01 9.47506227e-01 -4.50115607e-03 -4.26318447e+01] [-1.41163938e-02 -1.30690457e-05 9.99900359e-01 -4.38633220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15862385300002 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:210.55, Y:-42.64, Z:-4.39 [[ 9.47353218e-01 3.19918463e-01 1.31930982e-02 2.10550211e+02] [-3.19887687e-01 9.47445079e-01 -4.43740587e-03 -4.26401232e+01] [-1.39193440e-02 -1.65189452e-05 9.99903121e-01 -4.38619657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18862385300002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:210.58, Y:-42.65, Z:-4.39 [[ 9.47171659e-01 3.20452691e-01 1.32635056e-02 2.10577753e+02] [-3.20421648e-01 9.47264521e-01 -4.46044210e-03 -4.26454891e+01] [-1.39934090e-02 -2.51099865e-05 9.99902087e-01 -4.38691483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21862385300003 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:210.61, Y:-42.65, Z:-4.39 [[ 9.46961058e-01 3.21073276e-01 1.32930842e-02 2.10605957e+02] [-3.21042168e-01 9.47054354e-01 -4.46944071e-03 -4.26525694e+01] [-1.40242913e-02 -3.52542887e-05 9.99901654e-01 -4.38752040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24862385300003 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:210.63, Y:-42.66, Z:-4.39 [[ 9.46800769e-01 3.21545353e-01 1.33000038e-02 2.10634329e+02] [-3.21514269e-01 9.46894178e-01 -4.47108547e-03 -4.26593003e+01] [-1.40313530e-02 -4.29138441e-05 9.99901555e-01 -4.38837635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27862385300003 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:210.66, Y:-42.67, Z:-4.39 [[ 9.46620356e-01 3.22080974e-01 1.31813205e-02 2.10661284e+02] [-3.22050503e-01 9.46712123e-01 -4.43056306e-03 -4.26657965e+01] [-1.39059159e-02 -5.09897148e-05 9.99903307e-01 -4.38873028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30862385300003 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:210.69, Y:-42.67, Z:-4.39 [[ 9.46406403e-01 3.22715270e-01 1.30297636e-02 2.10688753e+02] [-3.22685567e-01 9.46496091e-01 -4.37883656e-03 -4.26712315e+01] [-1.37457377e-02 -6.03576858e-05 9.99905521e-01 -4.38906765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33862385300003 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:210.72, Y:-42.68, Z:-4.39 [[ 9.46334176e-01 3.22919071e-01 1.32250053e-02 2.10716058e+02] [-3.22888507e-01 9.46426579e-01 -4.44332173e-03 -4.26786278e+01] [-1.39513299e-02 -6.53350110e-05 9.99902673e-01 -4.38968182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.368623853 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:210.74, Y:-42.69, Z:-4.38 [[ 9.46345418e-01 3.22915478e-01 1.24877317e-02 2.10742832e+02] [-3.22888234e-01 9.46427805e-01 -4.19500776e-03 -4.26851225e+01] [-1.31733695e-02 -6.22152646e-05 9.99913225e-01 -4.38103371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.398623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:210.77, Y:-42.69, Z:-4.39 [[ 9.46311608e-01 3.22983242e-01 1.32727637e-02 2.10770459e+02] [-3.22952491e-01 9.46404681e-01 -4.45735651e-03 -4.26917637e+01] [-1.40010572e-02 -6.84238908e-05 9.99901978e-01 -4.39070319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.428623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:210.80, Y:-42.70, Z:-4.39 [[ 9.46340929e-01 3.22910410e-01 1.29504113e-02 2.10798631e+02] [-3.22881140e-01 9.46429534e-01 -4.34814931e-03 -4.26959983e+01] [-1.36607145e-02 -6.66119277e-05 9.99906686e-01 -4.39191151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.458623853 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:210.82, Y:-42.70, Z:-4.39 [[ 9.46372737e-01 3.22819015e-01 1.29044903e-02 2.10824786e+02] [-3.22789956e-01 9.46460712e-01 -4.33182602e-03 -4.27020321e+01] [-1.36119889e-02 -6.59178032e-05 9.99907350e-01 -4.39274808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.488623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:210.85, Y:-42.71, Z:-4.39 [[ 9.46509244e-01 3.22431000e-01 1.25897534e-02 2.10852174e+02] [-3.22403322e-01 9.46592968e-01 -4.22507074e-03 -4.27082851e+01] [-1.32796658e-02 -5.99098171e-05 9.99911820e-01 -4.39282742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.518623853 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:210.88, Y:-42.71, Z:-4.39 [[ 9.46863357e-01 3.21391730e-01 1.25354787e-02 2.10879558e+02] [-3.21364214e-01 9.46946331e-01 -4.20576143e-03 -4.27136578e+01] [-1.32221225e-02 -4.61728625e-05 9.99912583e-01 -4.39436954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.548623853 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:210.91, Y:-42.72, Z:-4.39 [[ 9.47255093e-01 3.20227395e-01 1.27359794e-02 2.10906417e+02] [-3.20198897e-01 9.47340707e-01 -4.27221418e-03 -4.27208293e+01] [-1.34333917e-02 -3.11698961e-05 9.99909767e-01 -4.39457133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.578623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:210.93, Y:-42.73, Z:-4.39 [[ 9.47651197e-01 3.19036826e-01 1.31420334e-02 2.10934065e+02] [-3.19006382e-01 9.47742319e-01 -4.40735957e-03 -4.27277138e+01] [-1.38613712e-02 -1.57529403e-05 9.99903926e-01 -4.39426969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.608623853 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:210.96, Y:-42.73, Z:-4.40 [[ 9.48602398e-01 3.16156915e-01 1.40817603e-02 2.10962301e+02] [-3.16121663e-01 9.48706912e-01 -4.72119225e-03 -4.27317288e+01] [-1.48521009e-02 2.69847981e-05 9.99889701e-01 -4.39520005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.638623853 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:210.99, Y:-42.74, Z:-4.40 [[ 9.49142316e-01 3.14547620e-01 1.37353382e-02 2.10988818e+02] [-3.14513922e-01 9.49241693e-01 -4.60438028e-03 -4.27384550e+01] [-1.44864525e-02 5.02570732e-05 9.99895065e-01 -4.39599665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.668623853 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:211.02, Y:-42.75, Z:-4.39 [[ 9.49732755e-01 3.12787594e-01 1.31002045e-02 2.11016398e+02] [-3.12756796e-01 9.49823097e-01 -4.38982894e-03 -4.27458217e+01] [-1.38159608e-02 7.19863429e-05 9.99904552e-01 -4.38912494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69862385300002 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:211.04, Y:-42.75, Z:-4.40 [[ 9.50839242e-01 3.09409127e-01 1.30662876e-02 2.11042571e+02] [-3.09378183e-01 9.50929008e-01 -4.37748099e-03 -4.27519218e+01] [-1.37795445e-02 1.19856384e-04 9.99905050e-01 -4.39812328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72862385300002 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:211.07, Y:-42.76, Z:-4.40 [[ 9.51447824e-01 3.07549836e-01 1.26545399e-02 2.11069626e+02] [-3.07520663e-01 9.51531964e-01 -4.23829580e-03 -4.27600852e+01] [-1.33446864e-02 1.40984813e-04 9.99910946e-01 -4.39911905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75862385300002 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:211.10, Y:-42.77, Z:-4.40 [[ 9.52032650e-01 3.05748468e-01 1.23169954e-02 2.11095072e+02] [-3.05720691e-01 9.52112309e-01 -4.12443399e-03 -4.27682525e+01] [-1.29882023e-02 1.61035474e-04 9.99915637e-01 -4.39981196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78862385300002 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:211.12, Y:-42.78, Z:-4.40 [[ 9.53068910e-01 3.02503209e-01 1.23069346e-02 2.11121744e+02] [-3.02475221e-01 9.53148345e-01 -4.11997012e-03 -4.27764969e+01] [-1.29766385e-02 2.04072687e-04 9.99915779e-01 -4.39977711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81862385300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:211.15, Y:-42.78, Z:-4.40 [[ 9.53554880e-01 3.00954297e-01 1.26333940e-02 2.11147839e+02] [-3.00924681e-01 9.53638536e-01 -4.22826959e-03 -4.27842751e+01] [-1.33202073e-02 2.30187027e-04 9.99911256e-01 -4.40047739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84862385300002 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:211.18, Y:-42.79, Z:-4.40 [[ 9.53889169e-01 2.99884143e-01 1.28434760e-02 2.11175219e+02] [-2.99853455e-01 9.53975597e-01 -4.29727295e-03 -4.27922499e+01] [-1.35410467e-02 2.47961467e-04 9.99908285e-01 -4.40066011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87862385300002 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:211.20, Y:-42.80, Z:-4.40 [[ 9.54267959e-01 2.98632516e-01 1.38304793e-02 2.11202345e+02] [-2.98596816e-01 9.54368136e-01 -4.62630886e-03 -4.27999421e+01] [-1.45809350e-02 2.85001248e-04 9.99893652e-01 -4.40170132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90862385300002 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:211.23, Y:-42.81, Z:-4.39 [[ 9.54366889e-01 2.98337465e-01 1.33640476e-02 2.11228994e+02] [-2.98304117e-01 9.54460413e-01 -4.46926399e-03 -4.28083182e+01] [-1.40888033e-02 2.78767144e-04 9.99900709e-01 -4.39439750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93862385300002 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:211.25, Y:-42.82, Z:-4.40 [[ 9.54411755e-01 2.98182486e-01 1.36164151e-02 2.11254829e+02] [-2.98147864e-01 9.54508839e-01 -4.55272639e-03 -4.28165189e+01] [-1.43545319e-02 2.85470500e-04 9.99896928e-01 -4.40206496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96862385300003 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:211.28, Y:-42.82, Z:-4.40 [[ 9.54256592e-01 2.98682162e-01 1.35396445e-02 2.11281119e+02] [-2.98648005e-01 9.54352603e-01 -4.52530224e-03 -4.28246271e+01] [-1.42732221e-02 2.74711668e-04 9.99898095e-01 -4.40293852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99862385300003 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:211.31, Y:-42.83, Z:-4.40 [[ 9.53881719e-01 2.99898600e-01 1.30574273e-02 2.11308168e+02] [-2.99866960e-01 9.53971052e-01 -4.36317186e-03 -4.28319684e+01] [-1.37649168e-02 2.46458836e-04 9.99905229e-01 -4.40437514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02862385300003 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:211.34, Y:-42.84, Z:-4.40 [[ 9.53570576e-01 3.00907370e-01 1.25662440e-02 2.11335174e+02] [-3.00878166e-01 9.53653346e-01 -4.19813291e-03 -4.28397704e+01] [-1.32470898e-02 2.22307581e-04 9.99912229e-01 -4.40478420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05862385300003 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:211.36, Y:-42.85, Z:-4.41 [[ 9.53018887e-01 3.02668613e-01 1.21124706e-02 2.11361563e+02] [-3.02641633e-01 9.53095837e-01 -4.04572086e-03 -4.28463807e+01] [-1.27688580e-02 1.89910505e-04 9.99918457e-01 -4.40547390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08862385300003 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:211.39, Y:-42.85, Z:-4.41 [[ 9.52881074e-01 3.03106759e-01 1.19979501e-02 2.11387219e+02] [-3.03080334e-01 9.52956589e-01 -4.00639587e-03 -4.28542847e+01] [-1.26478913e-02 1.81276076e-04 9.99919996e-01 -4.40570650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.118623853 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:211.41, Y:-42.86, Z:-4.41 [[ 9.52918917e-01 3.02982856e-01 1.21213193e-02 2.11414350e+02] [-3.02955890e-01 9.52995989e-01 -4.04640094e-03 -4.28628170e+01] [-1.27775588e-02 1.83666914e-04 9.99918347e-01 -4.40617516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.148623853 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:211.44, Y:-42.87, Z:-4.41 [[ 9.53003847e-01 3.02706862e-01 1.23378801e-02 2.11441084e+02] [-3.02678914e-01 9.53083690e-01 -4.11772527e-03 -4.28717953e+01] [-1.30054960e-02 1.89791873e-04 9.99915407e-01 -4.40649923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.178623853 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:211.47, Y:-42.88, Z:-4.41 [[ 9.53335395e-01 3.01641040e-01 1.28182680e-02 2.11466532e+02] [-3.01610790e-01 9.53421543e-01 -4.27708753e-03 -4.28800734e+01] [-1.35113580e-02 2.11370993e-04 9.99908695e-01 -4.40684929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.208623853 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:211.49, Y:-42.89, Z:-4.41 [[ 9.53561515e-01 3.00921665e-01 1.29069334e-02 2.11491846e+02] [-3.00890944e-01 9.53648836e-01 -4.30551129e-03 -4.28884928e+01] [-1.36043036e-02 2.21990507e-04 9.99907433e-01 -4.40763000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.238623853 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:211.52, Y:-42.90, Z:-4.41 [[ 9.53858568e-01 2.99984130e-01 1.27810289e-02 2.11518428e+02] [-2.99953937e-01 9.53944164e-01 -4.26232530e-03 -4.28978836e+01] [-1.34710179e-02 2.31935564e-04 9.99909235e-01 -4.40788894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.268623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:211.54, Y:-42.91, Z:-4.41 [[ 9.54204122e-01 2.98902265e-01 1.23259498e-02 2.11543640e+02] [-2.98874104e-01 9.54283700e-01 -4.10975508e-03 -4.29075516e+01] [-1.29908681e-02 2.37638024e-04 9.99915587e-01 -4.40839441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.298623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:211.57, Y:-42.92, Z:-4.41 [[ 9.54334278e-01 2.98486564e-01 1.23230547e-02 2.11570029e+02] [-2.98458397e-01 9.54413806e-01 -4.10764782e-03 -4.29169058e+01] [-1.29873712e-02 2.42149984e-04 9.99915631e-01 -4.40902724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.328623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:211.60, Y:-42.93, Z:-4.41 [[ 9.54413917e-01 2.98224359e-01 1.25022819e-02 2.11596703e+02] [-2.98195357e-01 9.54495767e-01 -4.16642943e-03 -4.29261812e+01] [-1.31759059e-02 2.48375817e-04 9.99913163e-01 -4.40934627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.358623853 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:211.62, Y:-42.94, Z:-4.41 [[ 9.54428845e-01 2.98159696e-01 1.28986608e-02 2.11623069e+02] [-2.98128833e-01 9.54515966e-01 -4.29753077e-03 -4.29361695e+01] [-1.35933281e-02 2.56224645e-04 9.99907574e-01 -4.40956852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.388623853 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:211.65, Y:-42.94, Z:-4.41 [[ 9.54422286e-01 2.98174483e-01 1.30414044e-02 2.11648640e+02] [-2.98142948e-01 9.54511347e-01 -4.34411289e-03 -4.29449251e+01] [-1.37434721e-02 2.57915399e-04 9.99905521e-01 -4.40978367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.418623853 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:211.67, Y:-42.95, Z:-4.41 [[ 9.54358975e-01 2.98360820e-01 1.34077642e-02 2.11674884e+02] [-2.98327526e-01 9.54453117e-01 -4.46479942e-03 -4.29539441e+01] [-1.41292035e-02 2.61116275e-04 9.99900144e-01 -4.41069974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44862385300002 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:211.70, Y:-42.96, Z:-4.41 [[ 9.54421295e-01 2.98144654e-01 1.37752162e-02 2.11699948e+02] [-2.98109502e-01 9.54520661e-01 -4.58613630e-03 -4.29639212e+01] [-1.45160605e-02 2.70583323e-04 9.99894600e-01 -4.41072928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47862385300002 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:211.73, Y:-42.97, Z:-4.41 [[ 9.54438633e-01 2.98101451e-01 1.35063400e-02 2.11725764e+02] [-2.98067671e-01 9.54534156e-01 -4.49538769e-03 -4.29736442e+01] [-1.42323444e-02 2.64768374e-04 9.99898680e-01 -4.41117601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50862385300002 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:211.75, Y:-42.98, Z:-4.41 [[ 9.54445447e-01 2.98079839e-01 1.35017792e-02 2.11751936e+02] [-2.98046094e-01 9.54540905e-01 -4.49289642e-03 -4.29837470e+01] [-1.42272424e-02 2.64071978e-04 9.99898753e-01 -4.41181911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53862385300002 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:211.78, Y:-42.99, Z:-4.41 [[ 9.54469797e-01 2.97995893e-01 1.36328612e-02 2.11777324e+02] [-2.97961495e-01 9.54567115e-01 -4.53556888e-03 -4.29935289e+01] [-1.43650619e-02 2.66995798e-04 9.99896782e-01 -4.41275214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56862385300002 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:211.80, Y:-43.00, Z:-4.40 [[ 9.54161462e-01 2.99015148e-01 1.28780823e-02 2.11803047e+02] [-2.98984560e-01 9.54248335e-01 -4.28343713e-03 -4.30044433e+01] [-1.35697011e-02 2.36742872e-04 9.99907899e-01 -4.40402753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59862385300002 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:211.83, Y:-43.01, Z:-4.41 [[ 9.54019190e-01 2.99459656e-01 1.30881621e-02 2.11829854e+02] [-2.99428119e-01 9.54108935e-01 -4.35212390e-03 -4.30141137e+01] [-1.37908180e-02 2.33045946e-04 9.99904875e-01 -4.41359269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62862385300002 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:211.86, Y:-43.02, Z:-4.41 [[ 9.53621366e-01 3.00727386e-01 1.30126636e-02 2.11855964e+02] [-3.00696339e-01 9.53710121e-01 -4.32640825e-03 -4.30234512e+01] [-1.37113784e-02 2.12895053e-04 9.99905972e-01 -4.40974710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65862385300002 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:211.88, Y:-43.03, Z:-4.41 [[ 9.52815775e-01 3.03264141e-01 1.31514351e-02 2.11881691e+02] [-3.03232683e-01 9.52906516e-01 -4.37162963e-03 -4.30332549e+01] [-1.38578467e-02 1.77412730e-04 9.99903960e-01 -4.41408404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68862385300002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:211.91, Y:-43.04, Z:-4.41 [[ 9.52255956e-01 3.05021117e-01 1.30656788e-02 2.11908309e+02] [-3.04990246e-01 9.52345576e-01 -4.34210924e-03 -4.30423258e+01] [-1.37674764e-02 1.49894786e-04 9.99905213e-01 -4.41463679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71862385300003 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:211.93, Y:-43.05, Z:-4.41 [[ 9.51594147e-01 3.07086627e-01 1.28989639e-02 2.11934911e+02] [-3.07056742e-01 9.51681559e-01 -4.28571541e-03 -4.30511761e+01] [-1.35917920e-02 1.17547871e-04 9.99907620e-01 -4.41490043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74862385300003 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:211.96, Y:-43.06, Z:-4.42 [[ 9.50250472e-01 3.11218424e-01 1.29280223e-02 2.11962066e+02] [-3.11188800e-01 9.50338408e-01 -4.29436186e-03 -4.30596743e+01] [-1.36224807e-02 5.76636344e-05 9.99907208e-01 -4.41534141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77862385300003 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:211.99, Y:-43.07, Z:-4.42 [[ 9.49649018e-01 3.13043734e-01 1.30522980e-02 2.11987442e+02] [-3.13013724e-01 9.49738711e-01 -4.33465178e-03 -4.30678989e+01] [-1.37532083e-02 3.08494050e-05 9.99905420e-01 -4.41614704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80862385300003 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:212.01, Y:-43.08, Z:-4.42 [[ 9.49140861e-01 3.14584387e-01 1.29726576e-02 2.12013952e+02] [-3.14554902e-01 9.49229511e-01 -4.30692551e-03 -4.30764534e+01] [-1.36689209e-02 7.26594903e-06 9.99906576e-01 -4.41701322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83862385300003 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:212.04, Y:-43.09, Z:-4.42 [[ 9.48705472e-01 3.15906706e-01 1.26838612e-02 2.12040957e+02] [-3.15878651e-01 9.48790258e-01 -4.21009933e-03 -4.30850798e+01] [-1.33643225e-02 -1.24166818e-05 9.99910693e-01 -4.41743891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.868623853 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:212.07, Y:-43.09, Z:-4.42 [[ 9.48724191e-01 3.15850471e-01 1.26841832e-02 2.12068044e+02] [-3.15822424e-01 9.48808980e-01 -4.20912882e-03 -4.30939341e+01] [-1.33643222e-02 -1.26471443e-05 9.99910693e-01 -4.41798867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.898623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:212.10, Y:-43.10, Z:-4.42 [[ 9.47883278e-01 3.18380485e-01 1.22946548e-02 2.12095297e+02] [-3.18354356e-01 9.47963008e-01 -4.07917362e-03 -4.31007950e+01] [-1.29536072e-02 -4.74764440e-05 9.99916097e-01 -4.41874192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.928623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:212.12, Y:-43.11, Z:-4.42 [[ 9.47591511e-01 3.19248485e-01 1.22773298e-02 2.12122332e+02] [-3.19222515e-01 9.47671041e-01 -4.07246291e-03 -4.31084448e+01] [-1.29349975e-02 -6.01688115e-05 9.99916338e-01 -4.41990197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.958623853 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:212.15, Y:-43.12, Z:-4.42 [[ 9.47354431e-01 3.19967399e-01 1.18509433e-02 2.12148379e+02] [-3.19943268e-01 9.47428551e-01 -3.93022212e-03 -4.31160862e+01] [-1.24854650e-02 -6.83161928e-05 9.99922051e-01 -4.42039947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.988623853 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:212.18, Y:-43.12, Z:-4.42 [[ 9.47075461e-01 3.20795017e-01 1.17740330e-02 2.12175900e+02] [-3.20771276e-01 9.47148642e-01 -3.90355583e-03 -4.31235160e+01] [-1.24040006e-02 -7.98096345e-05 9.99923064e-01 -4.42095273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.018623853 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:212.20, Y:-43.13, Z:-4.42 [[ 9.47104748e-01 3.20701882e-01 1.19540303e-02 2.12202701e+02] [-3.20677414e-01 9.47180182e-01 -3.96227934e-03 -4.31315141e+01] [-1.25933310e-02 -8.06939277e-05 9.99920698e-01 -4.42173570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.048623853 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:212.23, Y:-43.14, Z:-4.42 [[ 9.47187753e-01 3.20465678e-01 1.17093802e-02 2.12229463e+02] [-3.20442195e-01 9.47260124e-01 -3.88030180e-03 -4.31400135e+01] [-1.23353325e-02 -7.68051398e-05 9.99923914e-01 -4.42251038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.078623853 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:212.26, Y:-43.15, Z:-4.42 [[ 9.47704192e-01 3.18917412e-01 1.21839458e-02 2.12255802e+02] [-3.18891871e-01 9.47782507e-01 -4.03655238e-03 -4.31466037e+01] [-1.28350576e-02 -5.99036749e-05 9.99917625e-01 -4.42288405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.108623853 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:212.28, Y:-43.15, Z:-4.42 [[ 9.48072505e-01 3.17809726e-01 1.24700694e-02 2.12282615e+02] [-3.17782889e-01 9.48154510e-01 -4.13034836e-03 -4.31544896e+01] [-1.31362174e-02 -4.69049512e-05 9.99913715e-01 -4.42349981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.138623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:212.31, Y:-43.16, Z:-4.42 [[ 9.48524283e-01 3.16448793e-01 1.27218698e-02 2.12309177e+02] [-3.16420753e-01 9.48609593e-01 -4.21273534e-03 -4.31627416e+01] [-1.34012028e-02 -2.95818544e-05 9.99910199e-01 -4.42391262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.168623853 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:212.34, Y:-43.17, Z:-4.42 [[ 9.49464988e-01 3.13645427e-01 1.19491640e-02 2.12335649e+02] [-3.13620477e-01 9.49540176e-01 -3.95606570e-03 -4.31710504e+01] [-1.25870132e-02 8.64336993e-06 9.99920780e-01 -4.41538340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19862385300002 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:212.36, Y:-43.18, Z:-4.43 [[ 9.50026818e-01 3.11924338e-01 1.23390811e-02 2.12360719e+02] [-3.11897600e-01 9.50106945e-01 -4.08417629e-03 -4.31795224e+01] [-1.29974006e-02 3.15472114e-05 9.99915530e-01 -4.42562766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22862385300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:212.39, Y:-43.19, Z:-4.43 [[ 9.50653440e-01 3.10025436e-01 1.19275200e-02 2.12386783e+02] [-3.10000318e-01 9.50728261e-01 -3.94677026e-03 -4.31884672e+01] [-1.25634295e-02 5.44757357e-05 9.99921076e-01 -4.42588744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25862385300002 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:212.41, Y:-43.20, Z:-4.43 [[ 9.51175283e-01 3.08416987e-01 1.20226298e-02 2.12412128e+02] [-3.08391349e-01 9.51251258e-01 -3.97735519e-03 -4.31975367e+01] [-1.26632256e-02 7.54869362e-05 9.99919815e-01 -4.42650861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:212.44, Y:-43.21, Z:-4.43 [[ 9.52075542e-01 3.05627944e-01 1.19883865e-02 2.12438776e+02] [-3.05602246e-01 9.52151011e-01 -3.96484741e-03 -4.32061856e+01] [-1.26265225e-02 1.11156401e-04 9.99920276e-01 -4.42654527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:212.46, Y:-43.21, Z:-4.43 [[ 9.52401768e-01 3.04616228e-01 1.18248280e-02 2.12464764e+02] [-3.04591158e-01 9.52475164e-01 -3.90990296e-03 -4.32141470e+01] [-1.24538749e-02 1.22060427e-04 9.99922440e-01 -4.42721864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34862385300002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:212.49, Y:-43.22, Z:-4.43 [[ 9.52746291e-01 3.03497808e-01 1.27900551e-02 2.12491837e+02] [-3.03468397e-01 9.52832125e-01 -4.22763715e-03 -4.32222700e+01] [-1.34698540e-02 1.46488106e-04 9.99909267e-01 -4.42797814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37862385300002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:212.52, Y:-43.23, Z:-4.43 [[ 9.52756376e-01 3.03465554e-01 1.28041011e-02 2.12517192e+02] [-3.03436089e-01 9.52842398e-01 -4.23133211e-03 -4.32304356e+01] [-1.34843540e-02 1.46202278e-04 9.99909071e-01 -4.42748339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:212.54, Y:-43.24, Z:-4.43 [[ 9.52733919e-01 3.03526732e-01 1.30231449e-02 2.12542545e+02] [-3.03496272e-01 9.52822912e-01 -4.30248893e-03 -4.32381775e+01] [-1.37146713e-02 1.46651213e-04 9.99905939e-01 -4.42844482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43862385300002 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:212.57, Y:-43.25, Z:-4.43 [[ 9.52598113e-01 3.03967552e-01 1.26713023e-02 2.12568825e+02] [-3.03938770e-01 9.52682376e-01 -4.18507292e-03 -4.32466497e+01] [-1.33438528e-02 1.35392519e-04 9.99910958e-01 -4.42902716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46862385300003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:212.60, Y:-43.26, Z:-4.43 [[ 9.52261056e-01 3.05032757e-01 1.24055818e-02 2.12595717e+02] [-3.05005272e-01 9.52341852e-01 -4.09637615e-03 -4.32552510e+01] [-1.30638837e-02 1.17051625e-04 9.99914657e-01 -4.42995334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49862385300003 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:212.62, Y:-43.26, Z:-4.43 [[ 9.52085345e-01 3.05589056e-01 1.21993603e-02 2.12621564e+02] [-3.05562535e-01 9.52163493e-01 -4.02738946e-03 -4.32630813e+01] [-1.28465116e-02 1.06751035e-04 9.99917474e-01 -4.43009730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52862385300003 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:212.65, Y:-43.27, Z:-4.43 [[ 9.51713087e-01 3.06747490e-01 1.21728009e-02 2.12647974e+02] [-3.06721193e-01 9.51790927e-01 -4.01744710e-03 -4.32696289e+01] [-1.28183032e-02 8.98009789e-05 9.99917838e-01 -4.43095143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55862385300003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:212.67, Y:-43.28, Z:-4.43 [[ 9.51642213e-01 3.06960130e-01 1.23521666e-02 2.12674423e+02] [-3.06933087e-01 9.51722371e-01 -4.07542982e-03 -4.32776116e+01] [-1.30068278e-02 8.70624183e-05 9.99915404e-01 -4.43183453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58862385300003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:212.70, Y:-43.29, Z:-4.43 [[ 9.51531563e-01 3.07304335e-01 1.23178704e-02 2.12700427e+02] [-3.07277483e-01 9.51611286e-01 -4.06322454e-03 -4.32856951e+01] [-1.29704710e-02 8.12821803e-05 9.99915877e-01 -4.43224781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.618623853 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:212.73, Y:-43.29, Z:-4.43 [[ 9.51532546e-01 3.07302341e-01 1.22916581e-02 2.12726299e+02] [-3.07275617e-01 9.51611930e-01 -4.05345131e-03 -4.32930208e+01] [-1.29425236e-02 8.00640253e-05 9.99916239e-01 -4.43319979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.648623853 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:212.75, Y:-43.30, Z:-4.43 [[ 9.51622526e-01 3.07034267e-01 1.20219229e-02 2.12751684e+02] [-3.07008691e-01 9.51698457e-01 -3.96372113e-03 -4.33009938e+01] [-1.26582437e-02 8.11315045e-05 9.99919878e-01 -4.43381770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.678623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:212.78, Y:-43.31, Z:-4.43 [[ 9.51795430e-01 3.06502803e-01 1.18949946e-02 2.12778110e+02] [-3.06477747e-01 9.51869752e-01 -3.91995922e-03 -4.33092226e+01] [-1.25239640e-02 8.54481407e-05 9.99921568e-01 -4.43461948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.708623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:212.80, Y:-43.32, Z:-4.43 [[ 9.51981295e-01 3.05931009e-01 1.17401779e-02 2.12804058e+02] [-3.05906568e-01 9.52053680e-01 -3.86812337e-03 -4.33173339e+01] [-1.23606584e-02 9.09835734e-05 9.99923600e-01 -4.43489715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.738623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:212.83, Y:-43.33, Z:-4.44 [[ 9.52361817e-01 3.04715157e-01 1.24757033e-02 2.12831258e+02] [-3.04687470e-01 9.52443521e-01 -4.10913708e-03 -4.33257107e+01] [-1.31345191e-02 1.12194789e-04 9.99913732e-01 -4.43544283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.768623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:212.86, Y:-43.33, Z:-4.44 [[ 9.52574629e-01 3.04031212e-01 1.29072841e-02 2.12857619e+02] [-3.04001528e-01 9.52662063e-01 -4.25023641e-03 -4.33341185e+01] [-1.35884845e-02 1.24833267e-04 9.99907664e-01 -4.43556613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.798623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:212.88, Y:-43.34, Z:-4.44 [[ 9.52812516e-01 3.03278433e-01 1.30576414e-02 2.12884593e+02] [-3.03247997e-01 9.52901975e-01 -4.29871456e-03 -4.33431935e+01] [-1.37463597e-02 1.36165449e-04 9.99905505e-01 -4.43590986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.828623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:212.91, Y:-43.35, Z:-4.44 [[ 9.53434882e-01 3.01295304e-01 1.35301584e-02 2.12911366e+02] [-3.01262441e-01 9.53530865e-01 -4.45317193e-03 -4.33530399e+01] [-1.42431435e-02 1.69680896e-04 9.99898547e-01 -4.43569677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.858623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:212.94, Y:-43.36, Z:-4.44 [[ 9.53737852e-01 3.00323673e-01 1.37768459e-02 2.12936917e+02] [-3.00289515e-01 9.53837332e-01 -4.53328652e-03 -4.33612940e+01] [-1.45023232e-02 1.86524590e-04 9.99894818e-01 -4.43605038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.888623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:212.96, Y:-43.37, Z:-4.44 [[ 9.53984043e-01 2.99525358e-01 1.41069012e-02 2.12963624e+02] [-2.99489477e-01 9.54088318e-01 -4.64047498e-03 -4.33705051e+01] [-1.48491696e-02 2.02070614e-04 9.99889725e-01 -4.43692995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.918623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:212.99, Y:-43.38, Z:-4.44 [[ 9.54301369e-01 2.98512734e-01 1.41083087e-02 2.12989390e+02] [-2.98476751e-01 9.54405627e-01 -4.63986308e-03 -4.33800297e+01] [-1.48501074e-02 2.16825566e-04 9.99889708e-01 -4.43710949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:213.01, Y:-43.39, Z:-4.44 [[ 9.54914880e-01 2.96551012e-01 1.39666981e-02 2.13014697e+02] [-2.96515557e-01 9.55016983e-01 -4.59201568e-03 -4.33909128e+01] [-1.47002007e-02 2.43640852e-04 9.99891917e-01 -4.43765735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97862385300002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:213.04, Y:-43.40, Z:-4.44 [[ 9.55195919e-01 2.95653691e-01 1.37713594e-02 2.13041098e+02] [-2.95619147e-01 9.55295154e-01 -4.52648659e-03 -4.34005003e+01] [-1.44939853e-02 2.52604019e-04 9.99894925e-01 -4.43843997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:213.07, Y:-43.41, Z:-4.44 [[ 9.55473549e-01 2.94763238e-01 1.35989146e-02 2.13067403e+02] [-2.94729477e-01 9.55570283e-01 -4.46877003e-03 -4.34104476e+01] [-1.43119478e-02 2.61790554e-04 9.99897545e-01 -4.43958494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:213.09, Y:-43.42, Z:-4.44 [[ 9.55881641e-01 2.93441594e-01 1.35025453e-02 2.13092266e+02] [-2.93408195e-01 9.55976963e-01 -4.43600121e-03 -4.34225811e+01] [-1.42098295e-02 2.78534682e-04 9.99898996e-01 -4.44027141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:213.12, Y:-43.43, Z:-4.44 [[ 9.56022895e-01 2.92999421e-01 1.30981971e-02 2.13118120e+02] [-2.92967960e-01 9.56112579e-01 -4.30242938e-03 -4.34330667e+01] [-1.37839603e-02 2.75868913e-04 9.99904959e-01 -4.44013718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:213.14, Y:-43.44, Z:-4.44 [[ 9.56087165e-01 2.92786123e-01 1.31764497e-02 2.13143991e+02] [-2.92754281e-01 9.56177916e-01 -4.32702050e-03 -4.34432924e+01] [-1.38659217e-02 2.79546720e-04 9.99903824e-01 -4.44062238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12862385300002 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:213.17, Y:-43.45, Z:-4.44 [[ 9.55983790e-01 2.93110709e-01 1.34575711e-02 2.13170139e+02] [-2.93077537e-01 9.56078467e-01 -4.41849506e-03 -4.34536474e+01] [-1.41616022e-02 2.79897862e-04 9.99899680e-01 -4.44067559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:213.20, Y:-43.46, Z:-4.44 [[ 9.55584464e-01 2.94392136e-01 1.38420639e-02 2.13195985e+02] [-2.94357192e-01 9.55684675e-01 -4.54362057e-03 -4.34649587e+01] [-1.45662545e-02 2.67302173e-04 9.99893871e-01 -4.44135160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18862385300002 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:213.22, Y:-43.47, Z:-4.44 [[ 9.55367559e-01 2.95102580e-01 1.36855236e-02 2.13221709e+02] [-2.95068511e-01 9.55465543e-01 -4.49113198e-03 -4.34746018e+01] [-1.44013909e-02 2.52514713e-04 9.99896263e-01 -4.44181285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21862385300003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:213.25, Y:-43.48, Z:-4.44 [[ 9.55094953e-01 2.95992143e-01 1.35011542e-02 2.13246506e+02] [-2.95959085e-01 9.55190345e-01 -4.42989199e-03 -4.34841038e+01] [-1.42073854e-02 2.35178219e-04 9.99899042e-01 -4.44270458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:213.27, Y:-43.50, Z:-4.44 [[ 9.54451752e-01 2.98078562e-01 1.30775890e-02 2.13270487e+02] [-2.98047755e-01 9.54541320e-01 -4.28993329e-03 -4.34960203e+01] [-1.37618362e-02 1.96788313e-04 9.99905282e-01 -4.44390768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27862385300003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:213.30, Y:-43.51, Z:-4.44 [[ 9.54144415e-01 2.99062983e-01 1.30295117e-02 2.13297339e+02] [-2.99032517e-01 9.54233357e-01 -4.27242945e-03 -4.35070292e+01] [-1.37109202e-02 1.80267009e-04 9.99905985e-01 -4.44463121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30862385300003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:213.32, Y:-43.52, Z:-4.45 [[ 9.53773738e-01 3.00255337e-01 1.27432087e-02 2.13322932e+02] [-3.00226310e-01 9.53858851e-01 -4.17796341e-03 -4.35171323e+01] [-1.34096782e-02 1.58985259e-04 9.99910074e-01 -4.44521865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33862385300003 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:213.35, Y:-43.53, Z:-4.45 [[ 9.52864246e-01 3.03136907e-01 1.25596542e-02 2.13348908e+02] [-3.03108971e-01 9.52947009e-01 -4.11703234e-03 -4.35279751e+01] [-1.32167094e-02 1.16029051e-04 9.99912649e-01 -4.44631725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.368623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.38, Y:-43.54, Z:-4.45 [[ 9.52341995e-01 3.04790253e-01 1.21501420e-02 2.13375632e+02] [-3.04764255e-01 9.52419494e-01 -3.98190092e-03 -4.35374472e+01] [-1.27856767e-02 8.92024809e-05 9.99918256e-01 -4.44684392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.398623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.40, Y:-43.55, Z:-4.45 [[ 9.51842491e-01 3.06347016e-01 1.21399288e-02 2.13401680e+02] [-3.06321201e-01 9.51919903e-01 -3.97752348e-03 -4.35466631e+01] [-1.27747423e-02 6.72582982e-05 9.99918397e-01 -4.44742060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.428623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:213.43, Y:-43.56, Z:-4.45 [[ 9.50589350e-01 3.10211233e-01 1.22015456e-02 2.13428154e+02] [-3.10185484e-01 9.50667655e-01 -3.99684881e-03 -4.35574828e+01] [-1.28394821e-02 1.46195854e-05 9.99917570e-01 -4.44827032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.458623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:213.45, Y:-43.57, Z:-4.44 [[ 9.49892854e-01 3.12359245e-01 1.16304991e-02 2.13454582e+02] [-3.12336016e-01 9.49964053e-01 -3.80930805e-03 -4.35667028e+01] [-1.22384286e-02 -1.41892631e-05 9.99925108e-01 -4.44018675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.488623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:213.48, Y:-43.58, Z:-4.45 [[ 9.49235326e-01 3.14333394e-01 1.21166898e-02 2.13480711e+02] [-3.14308353e-01 9.49312654e-01 -3.96776286e-03 -4.35755792e+01] [-1.27497273e-02 -4.20361341e-05 9.99918718e-01 -4.44870780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.518623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:213.51, Y:-43.58, Z:-4.45 [[ 9.48041254e-01 3.17917603e-01 1.20904048e-02 2.13508497e+02] [-3.17892976e-01 9.48118341e-01 -3.95810200e-03 -4.35840236e+01] [-1.27214848e-02 -9.10107748e-05 9.99919074e-01 -4.44996783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:213.54, Y:-43.59, Z:-4.45 [[ 9.47618190e-01 3.19174100e-01 1.21515844e-02 2.13535055e+02] [-3.19149333e-01 9.47696092e-01 -3.97756351e-03 -4.35923982e+01] [-1.27855443e-02 -1.08958528e-04 9.99918256e-01 -4.45033336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.578623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:213.56, Y:-43.60, Z:-4.45 [[ 9.47291469e-01 3.20123064e-01 1.26529467e-02 2.13561863e+02] [-3.20096308e-01 9.47375959e-01 -4.14078644e-03 -4.36006411e+01] [-1.33126587e-02 -1.27629851e-04 9.99911374e-01 -4.45098572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.608623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.59, Y:-43.61, Z:-4.45 [[ 9.46943261e-01 3.21141566e-01 1.29056408e-02 2.13588704e+02] [-3.21113836e-01 9.47031189e-01 -4.22269360e-03 -4.36082963e+01] [-1.35781268e-02 -1.45528593e-04 9.99907802e-01 -4.45173271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.638623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:213.62, Y:-43.62, Z:-4.45 [[ 9.46937085e-01 3.21152186e-01 1.30931233e-02 2.13616023e+02] [-3.21123661e-01 9.47027588e-01 -4.28287481e-03 -4.36169837e+01] [-1.37750035e-02 -1.48898684e-04 9.99905109e-01 -4.45267614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.668623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:213.64, Y:-43.63, Z:-4.45 [[ 9.47009894e-01 3.20940370e-01 1.30207268e-02 2.13642024e+02] [-3.20912149e-01 9.47099392e-01 -4.25856286e-03 -4.36255318e+01] [-1.36986672e-02 -1.45608249e-04 9.99906158e-01 -4.45316803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.67, Y:-43.63, Z:-4.45 [[ 9.47193957e-01 3.20391366e-01 1.31522330e-02 2.13669365e+02] [-3.20362530e-01 9.47285254e-01 -4.30073306e-03 -4.36333553e+01] [-1.38368341e-02 -1.39854280e-04 9.99904257e-01 -4.45354003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72862385300002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:213.70, Y:-43.64, Z:-4.45 [[ 9.47145387e-01 3.20520536e-01 1.34982241e-02 2.13695550e+02] [-3.20490189e-01 9.47241556e-01 -4.41294505e-03 -4.36409968e+01] [-1.42005183e-02 -1.46347834e-04 9.99899157e-01 -4.45418697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:213.72, Y:-43.65, Z:-4.45 [[ 9.47103060e-01 3.20628173e-01 1.39056773e-02 2.13722531e+02] [-3.20596004e-01 9.47205126e-01 -4.54440825e-03 -4.36490143e+01] [-1.46285942e-02 -1.54081614e-04 9.99892985e-01 -4.45474875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:213.75, Y:-43.66, Z:-4.46 [[ 9.47122020e-01 3.20572149e-01 1.39060156e-02 2.13749659e+02] [-3.20539989e-01 9.47224088e-01 -4.54337277e-03 -4.36577456e+01] [-1.46285917e-02 -1.54305694e-04 9.99892985e-01 -4.45529850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.78, Y:-43.67, Z:-4.46 [[ 9.46933431e-01 3.21107223e-01 1.43954665e-02 2.13776332e+02] [-3.21072834e-01 9.47042831e-01 -4.70235458e-03 -4.36659459e+01] [-1.51430834e-02 -1.69176479e-04 9.99885323e-01 -4.45561807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.80, Y:-43.67, Z:-4.46 [[ 9.46515105e-01 3.22329280e-01 1.45942005e-02 2.13804654e+02] [-3.22294100e-01 9.46627592e-01 -4.76600497e-03 -4.36724220e+01] [-1.53514958e-02 -1.92529025e-04 9.99882140e-01 -4.45610974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:213.83, Y:-43.68, Z:-4.46 [[ 9.46287975e-01 3.23018697e-01 1.40708747e-02 2.13831944e+02] [-3.22986081e-01 9.46392563e-01 -4.59444592e-03 -4.36792127e+01] [-1.48006631e-02 -1.97027728e-04 9.99890445e-01 -4.45672294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.86, Y:-43.69, Z:-4.46 [[ 9.46178536e-01 3.23362201e-01 1.35301647e-02 2.13858970e+02] [-3.23332090e-01 9.46275250e-01 -4.41709664e-03 -4.36853962e+01] [-1.42315821e-02 -1.95374401e-04 9.99898707e-01 -4.45780561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:213.89, Y:-43.69, Z:-4.46 [[ 9.46195443e-01 3.23314979e-01 1.34762344e-02 2.13885447e+02] [-3.23285116e-01 9.46291386e-01 -4.39851820e-03 -4.36897458e+01] [-1.41745513e-02 -1.94808120e-04 9.99899517e-01 -4.45887115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:213.91, Y:-43.70, Z:-4.46 [[ 9.46296466e-01 3.23012125e-01 1.36442576e-02 2.13912352e+02] [-3.22981500e-01 9.46394806e-01 -4.45205994e-03 -4.36967683e+01] [-1.43509239e-02 -1.93874210e-04 9.99897001e-01 -4.45945123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:213.94, Y:-43.70, Z:-4.46 [[ 9.46813602e-01 3.21484638e-01 1.38430651e-02 2.13939340e+02] [-3.21452967e-01 9.46914778e-01 -4.51584244e-03 -4.37029424e+01] [-1.45599769e-02 -1.74233309e-04 9.99893983e-01 -4.46007966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02862385300003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:213.97, Y:-43.71, Z:-4.46 [[ 9.47120227e-01 3.20585212e-01 1.37257615e-02 2.13965611e+02] [-3.20553996e-01 9.47219666e-01 -4.47656638e-03 -4.37104299e+01] [-1.44364322e-02 -1.60001132e-04 9.99895776e-01 -4.46008720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.99, Y:-43.72, Z:-4.46 [[ 9.47525598e-01 3.19384333e-01 1.37436622e-02 2.13992806e+02] [-3.19352928e-01 9.47625257e-01 -4.48108729e-03 -4.37180874e+01] [-1.44550305e-02 -1.43133861e-04 9.99895510e-01 -4.46040037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:214.02, Y:-43.72, Z:-4.46 [[ 9.48326214e-01 3.17006285e-01 1.35796690e-02 2.14020321e+02] [-3.16975396e-01 9.48423431e-01 -4.42658134e-03 -4.37229938e+01] [-1.42825304e-02 -1.06577828e-04 9.99897994e-01 -4.46082392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.118623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.05, Y:-43.73, Z:-4.46 [[ 9.48696545e-01 3.15894422e-01 1.36227516e-02 2.14047904e+02] [-3.15863237e-01 9.48794343e-01 -4.43957659e-03 -4.37297996e+01] [-1.43276272e-02 -9.11154600e-05 9.99897350e-01 -4.46135932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.148623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:214.07, Y:-43.74, Z:-4.46 [[ 9.49077926e-01 3.14727866e-01 1.40520547e-02 2.14074740e+02] [-3.14694573e-01 9.49181945e-01 -4.57835590e-03 -4.37367833e+01] [-1.47788927e-02 -7.68888071e-05 9.99890783e-01 -4.46215440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.178623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:214.10, Y:-43.74, Z:-4.46 [[ 9.49489781e-01 3.13484346e-01 1.40256935e-02 2.14102016e+02] [-3.13451058e-01 9.49593366e-01 -4.56869275e-03 -4.37439917e+01] [-1.47509192e-02 -5.84413833e-05 9.99891198e-01 -4.46236815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.208623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:214.13, Y:-43.75, Z:-4.46 [[ 9.50284327e-01 3.11054644e-01 1.43075603e-02 2.14129728e+02] [-3.11019746e-01 9.50392028e-01 -4.65940257e-03 -4.37500226e+01] [-1.50471200e-02 -2.21765214e-05 9.99886785e-01 -4.46333223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.238623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.16, Y:-43.76, Z:-4.46 [[ 9.50677991e-01 3.09860853e-01 1.40573792e-02 2.14156040e+02] [-3.09827050e-01 9.50781916e-01 -4.57687215e-03 -4.37573949e+01] [-1.47836955e-02 -4.22471331e-06 9.99890715e-01 -4.46404846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.18, Y:-43.77, Z:-4.46 [[ 9.51076050e-01 3.08644577e-01 1.38878788e-02 2.14182917e+02] [-3.08611474e-01 9.51177441e-01 -4.52031613e-03 -4.37654091e+01] [-1.46050081e-02 1.32056649e-05 9.99893341e-01 -4.46471529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.298623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:214.21, Y:-43.77, Z:-4.47 [[ 9.51541335e-01 3.07224812e-01 1.34908472e-02 2.14208504e+02] [-3.07193445e-01 9.51636965e-01 -4.39015577e-03 -4.37729700e+01] [-1.41871537e-02 3.31148476e-05 9.99899357e-01 -4.46555303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.328623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:214.24, Y:-43.78, Z:-4.47 [[ 9.52314009e-01 3.04823016e-01 1.34520407e-02 2.14236124e+02] [-3.04791608e-01 9.52409011e-01 -4.37626527e-03 -4.37799236e+01] [-1.41458312e-02 6.75095934e-05 9.99899940e-01 -4.46574919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.358623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:214.26, Y:-43.79, Z:-4.47 [[ 9.52714456e-01 3.03564908e-01 1.35466703e-02 2.14263307e+02] [-3.03532943e-01 9.52810757e-01 -4.40602928e-03 -4.37879625e+01] [-1.42449291e-02 8.58270859e-05 9.99898532e-01 -4.46657690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.388623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:214.29, Y:-43.80, Z:-4.47 [[ 9.53020444e-01 3.02609670e-01 1.33948188e-02 2.14290306e+02] [-3.02578337e-01 9.53114567e-01 -4.35565897e-03 -4.37962518e+01] [-1.40848615e-02 9.80500427e-05 9.99900799e-01 -4.46658081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.32, Y:-43.80, Z:-4.47 [[ 9.53355752e-01 3.01565900e-01 1.30697397e-02 2.14317474e+02] [-3.01535985e-01 9.53445329e-01 -4.24903669e-03 -4.38042746e+01] [-1.37426469e-02 1.09846724e-04 9.99905559e-01 -4.46732899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.34, Y:-43.81, Z:-4.47 [[ 9.53438548e-01 3.01310307e-01 1.29241893e-02 2.14343085e+02] [-3.01281042e-01 9.53526133e-01 -4.20080451e-03 -4.38117857e+01] [-1.35892979e-02 1.11395725e-04 9.99907655e-01 -4.46766093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.37, Y:-43.82, Z:-4.47 [[ 9.53449691e-01 3.01276069e-01 1.29002810e-02 2.14369904e+02] [-3.01246927e-01 9.53536951e-01 -4.19181077e-03 -4.38195740e+01] [-1.35637869e-02 1.10510677e-04 9.99908002e-01 -4.46811195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:214.40, Y:-43.83, Z:-4.47 [[ 9.53191080e-01 3.02090911e-01 1.29555968e-02 2.14397672e+02] [-3.02061606e-01 9.53279115e-01 -4.20880532e-03 -4.38256764e+01] [-1.36217417e-02 9.84072931e-05 9.99907215e-01 -4.46855991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:214.42, Y:-43.83, Z:-4.47 [[ 9.53024051e-01 3.02618024e-01 1.29418040e-02 2.14423703e+02] [-3.02588843e-01 9.53111916e-01 -4.20341641e-03 -4.38326711e+01] [-1.36070172e-02 8.99114350e-05 9.99907416e-01 -4.46945801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:214.45, Y:-43.84, Z:-4.47 [[ 9.52824396e-01 3.03250771e-01 1.28312006e-02 2.14450720e+02] [-3.03222160e-01 9.52910785e-01 -4.16632013e-03 -4.38399711e+01] [-1.34904292e-02 7.90671092e-05 9.99908997e-01 -4.46970194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:214.48, Y:-43.85, Z:-4.47 [[ 9.52584384e-01 3.03989898e-01 1.31580121e-02 2.14476790e+02] [-3.03959894e-01 9.52675253e-01 -4.27147715e-03 -4.38477830e+01] [-1.38337984e-02 6.94344516e-05 9.99904306e-01 -4.47033763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:214.50, Y:-43.85, Z:-4.47 [[ 9.52068953e-01 3.05603312e-01 1.30890902e-02 2.14503883e+02] [-3.05573790e-01 9.52158923e-01 -4.24792119e-03 -4.38545632e+01] [-1.37610728e-02 4.46309851e-05 9.99905311e-01 -4.47077520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:214.53, Y:-43.86, Z:-4.47 [[ 9.51827670e-01 3.06362082e-01 1.28980832e-02 2.14530748e+02] [-3.06333499e-01 9.51915056e-01 -4.18494962e-03 -4.38616067e+01] [-1.35599894e-02 3.22359014e-05 9.99908059e-01 -4.47151542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68862385300002 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:214.56, Y:-43.87, Z:-4.46 [[ 9.51667784e-01 3.06885407e-01 1.22382977e-02 2.14556993e+02] [-3.06859728e-01 9.51746472e-01 -3.97005078e-03 -4.38680514e+01] [-1.28661073e-02 2.27287324e-05 9.99917228e-01 -4.46391108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71862385300003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:214.58, Y:-43.88, Z:-4.47 [[ 9.51657250e-01 3.06912622e-01 1.23742310e-02 2.14583196e+02] [-3.06886387e-01 9.51737696e-01 -4.01290524e-03 -4.38759464e+01] [-1.30086333e-02 2.14273233e-05 9.99915384e-01 -4.47325771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:214.61, Y:-43.88, Z:-4.47 [[ 9.51944067e-01 3.06063554e-01 1.12957916e-02 2.14609492e+02] [-3.06041641e-01 9.52011082e-01 -3.66250261e-03 -4.38831623e+01] [-1.18746774e-02 2.95150285e-05 9.99929493e-01 -4.47456310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:214.64, Y:-43.89, Z:-4.48 [[ 9.52237771e-01 3.05157695e-01 1.10457125e-02 2.14636194e+02] [-3.05136693e-01 9.52301832e-01 -3.58035239e-03 -4.38907932e+01] [-1.16114243e-02 3.88945916e-05 9.99932584e-01 -4.47527334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:214.66, Y:-43.90, Z:-4.48 [[ 9.52513376e-01 3.04291461e-01 1.11792425e-02 2.14663223e+02] [-3.04269898e-01 9.52578976e-01 -3.62274623e-03 -4.38990160e+01] [-1.17514821e-02 4.92072482e-05 9.99930948e-01 -4.47603436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:214.69, Y:-43.91, Z:-4.47 [[ 9.53013212e-01 3.02721522e-01 1.12025811e-02 2.14689147e+02] [-3.02699766e-01 9.53079050e-01 -3.62988883e-03 -4.39069053e+01] [-1.17757908e-02 6.83133406e-05 9.99930661e-01 -4.46806326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.868623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.72, Y:-43.92, Z:-4.48 [[ 9.53248640e-01 3.01949168e-01 1.19887611e-02 2.14715575e+02] [-3.01924219e-01 9.53324023e-01 -3.88234679e-03 -4.39150789e+01] [-1.26014454e-02 8.11444616e-05 9.99920595e-01 -4.47617117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.898623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:214.74, Y:-43.92, Z:-4.48 [[ 9.53775714e-01 3.00247246e-01 1.27858657e-02 2.14741519e+02] [-3.00218730e-01 9.53861405e-01 -4.13947037e-03 -4.39224076e+01] [-1.34388084e-02 1.09569951e-04 9.99909689e-01 -4.47647103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.928623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.77, Y:-43.93, Z:-4.48 [[ 9.54074573e-01 2.99285694e-01 1.30300200e-02 2.14767049e+02] [-2.99256001e-01 9.54163538e-01 -4.21759028e-03 -4.39301550e+01] [-1.36950344e-02 1.24583963e-04 9.99906211e-01 -4.47640570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.958623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:214.79, Y:-43.94, Z:-4.48 [[ 9.54319470e-01 2.98488875e-01 1.33693810e-02 2.14793922e+02] [-2.98457568e-01 9.54413104e-01 -4.32520461e-03 -4.39387337e+01] [-1.40509379e-02 1.37434031e-04 9.99901271e-01 -4.47746216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.988623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:214.82, Y:-43.95, Z:-4.48 [[ 9.54840267e-01 2.96824965e-01 1.32289045e-02 2.14819666e+02] [-2.96794166e-01 9.54931890e-01 -4.27883532e-03 -4.39469301e+01] [-1.39027679e-02 1.59342592e-04 9.99903339e-01 -4.47777630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.018623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.85, Y:-43.96, Z:-4.48 [[ 9.55047194e-01 2.96145984e-01 1.35060795e-02 2.14846276e+02] [-2.96113830e-01 9.55142674e-01 -4.36721265e-03 -4.39554208e+01] [-1.41935653e-02 1.71557257e-04 9.99899252e-01 -4.47837667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.87, Y:-43.96, Z:-4.48 [[ 9.55223085e-01 2.95579418e-01 1.34783192e-02 2.14872599e+02] [-2.95547354e-01 9.55318154e-01 -4.35723637e-03 -4.39639749e+01] [-1.41639924e-02 1.78651201e-04 9.99899670e-01 -4.47865193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:214.90, Y:-43.97, Z:-4.48 [[ 9.55366696e-01 2.95125326e-01 1.32483154e-02 2.14899196e+02] [-2.95094317e-01 9.55458533e-01 -4.28192758e-03 -4.39725688e+01] [-1.39219213e-02 1.81308414e-04 9.99903069e-01 -4.47931839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.108623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.92, Y:-43.98, Z:-4.48 [[ 9.55512354e-01 2.94655291e-01 1.32060929e-02 2.14924958e+02] [-2.94624443e-01 9.55603592e-01 -4.26761742e-03 -4.39800908e+01] [-1.38772659e-02 1.86923391e-04 9.99903689e-01 -4.48058981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:214.95, Y:-43.99, Z:-4.48 [[ 9.55509087e-01 2.94668143e-01 1.31556270e-02 2.14951608e+02] [-2.94637561e-01 9.55599629e-01 -4.24922535e-03 -4.39886148e+01] [-1.38236236e-02 1.84031594e-04 9.99904432e-01 -4.48083266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.98, Y:-44.00, Z:-4.48 [[ 9.55430017e-01 2.94930656e-01 1.30150209e-02 2.14978235e+02] [-2.94900762e-01 9.55518643e-01 -4.20287068e-03 -4.39973676e+01] [-1.36756506e-02 1.77409212e-04 9.99906468e-01 -4.48100838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.00, Y:-44.01, Z:-4.48 [[ 9.55296001e-01 2.95369471e-01 1.29006182e-02 2.15004227e+02] [-2.95340152e-01 9.55383089e-01 -4.16506073e-03 -4.40054912e+01] [-1.35552642e-02 1.68795324e-04 9.99908109e-01 -4.48136733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22862385300002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:215.03, Y:-44.01, Z:-4.48 [[ 9.55149871e-01 2.95842075e-01 1.28914802e-02 2.15030875e+02] [-2.95812853e-01 9.55236850e-01 -4.16121715e-03 -4.40140054e+01] [-1.35454800e-02 1.61120496e-04 9.99908243e-01 -4.48218604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.06, Y:-44.02, Z:-4.48 [[ 9.55040046e-01 2.96196083e-01 1.28992703e-02 2.15057588e+02] [-2.96166881e-01 9.55127142e-01 -4.16192561e-03 -4.40226479e+01] [-1.35531892e-02 1.54468975e-04 9.99908139e-01 -4.48248838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.08, Y:-44.03, Z:-4.48 [[ 9.54667015e-01 2.97397920e-01 1.28595081e-02 2.15083551e+02] [-2.97369019e-01 9.54753612e-01 -4.14823750e-03 -4.40313998e+01] [-1.35113390e-02 1.36166192e-04 9.99908708e-01 -4.48269233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.11, Y:-44.04, Z:-4.48 [[ 9.54485964e-01 2.97977544e-01 1.28813103e-02 2.15110225e+02] [-2.97948604e-01 9.54572872e-01 -4.15477733e-03 -4.40395712e+01] [-1.35341797e-02 1.27708231e-04 9.99908401e-01 -4.48335879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.14, Y:-44.05, Z:-4.48 [[ 9.54177426e-01 2.98961899e-01 1.29314294e-02 2.15137474e+02] [-2.98932857e-01 9.54265042e-01 -4.16848450e-03 -4.40476858e+01] [-1.35862290e-02 1.11844684e-04 9.99907697e-01 -4.48395285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37862385300002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:215.16, Y:-44.06, Z:-4.48 [[ 9.53793998e-01 3.00207223e-01 1.23544690e-02 2.15164535e+02] [-3.00180857e-01 9.53874004e-01 -3.97964757e-03 -4.40555799e+01] [-1.29793258e-02 8.71888661e-05 9.99915761e-01 -4.47569583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.19, Y:-44.06, Z:-4.49 [[ 9.53261565e-01 3.01900278e-01 1.21906364e-02 2.15189736e+02] [-3.01874751e-01 9.53339509e-01 -3.92633824e-03 -4.40632531e+01] [-1.28071779e-02 6.27820167e-05 9.99917983e-01 -4.48506553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:215.22, Y:-44.07, Z:-4.48 [[ 9.53036743e-01 3.02620940e-01 1.18967815e-02 2.15216311e+02] [-3.02596711e-01 9.53110993e-01 -3.82964182e-03 -4.40713523e+01] [-1.24978830e-02 4.98624244e-05 9.99921897e-01 -4.48050266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.24, Y:-44.08, Z:-4.49 [[ 9.52966502e-01 3.02848988e-01 1.17190674e-02 2.15241977e+02] [-3.02825500e-01 9.53038556e-01 -3.77197171e-03 -4.40804094e+01] [-1.23110609e-02 4.57302450e-05 9.99924215e-01 -4.48615163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.27, Y:-44.09, Z:-4.49 [[ 9.52818988e-01 3.03322354e-01 1.14684599e-02 2.15267661e+02] [-3.03299918e-01 9.52888004e-01 -3.68938266e-03 -4.40894934e+01] [-1.20472301e-02 3.69308925e-05 9.99927429e-01 -4.48630594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.29, Y:-44.10, Z:-4.49 [[ 9.52738610e-01 3.03558068e-01 1.19012781e-02 2.15294328e+02] [-3.03533940e-01 9.52812940e-01 -3.82742553e-03 -4.40973603e+01] [-1.25015377e-02 3.40942465e-05 9.99921852e-01 -4.48700758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.32, Y:-44.10, Z:-4.49 [[ 9.52561172e-01 3.04107198e-01 1.20840709e-02 2.15319872e+02] [-3.04082379e-01 9.52637817e-01 -3.88534584e-03 -4.41045332e+01] [-1.26933046e-02 2.64765533e-05 9.99919436e-01 -4.48687085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.35, Y:-44.11, Z:-4.49 [[ 9.51979332e-01 3.05906701e-01 1.25077031e-02 2.15346668e+02] [-3.05880280e-01 9.52061495e-01 -4.02038917e-03 -4.41106546e+01] [-1.31379665e-02 1.46765287e-06 9.99913693e-01 -4.48746061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.618623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.37, Y:-44.12, Z:-4.49 [[ 9.51602871e-01 3.07066888e-01 1.27240862e-02 2.15374011e+02] [-3.07039666e-01 9.51687935e-01 -4.08872227e-03 -4.41185061e+01] [-1.33648705e-02 -1.59593149e-05 9.99910686e-01 -4.48775934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.40, Y:-44.13, Z:-4.49 [[ 9.51236404e-01 3.08197145e-01 1.27993685e-02 2.15401238e+02] [-3.08169714e-01 9.51322510e-01 -4.11196933e-03 -4.41267958e+01] [-1.34436246e-02 -3.29228217e-05 9.99909630e-01 -4.48808513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.43, Y:-44.13, Z:-4.49 [[ 9.50961687e-01 3.09048023e-01 1.26960365e-02 2.15427052e+02] [-3.09021122e-01 9.51046433e-01 -4.07784113e-03 -4.41343575e+01] [-1.33347690e-02 -4.54727734e-05 9.99911087e-01 -4.48870047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.45, Y:-44.14, Z:-4.49 [[ 9.51013477e-01 3.08888609e-01 1.26962294e-02 2.15454241e+02] [-3.08861701e-01 9.51098221e-01 -4.07724069e-03 -4.41428817e+01] [-1.33347744e-02 -4.38681551e-05 9.99911087e-01 -4.48925017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.48, Y:-44.15, Z:-4.49 [[ 9.50659712e-01 3.10010758e-01 1.18085365e-02 2.15480979e+02] [-3.09987592e-01 9.50733047e-01 -3.79029823e-03 -4.41503098e+01] [-1.24017991e-02 -5.72159826e-05 9.99923093e-01 -4.49016660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:-44.16, Z:-4.49 [[ 9.50627737e-01 3.10109003e-01 1.18030718e-02 2.15507631e+02] [-3.10085904e-01 9.50701006e-01 -3.78545041e-03 -4.41585319e+01] [-1.23950945e-02 -6.14120542e-05 9.99923176e-01 -4.49074313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.798623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.53, Y:-44.17, Z:-4.49 [[ 9.50749472e-01 3.09741034e-01 1.16590718e-02 2.15533737e+02] [-3.09718477e-01 9.50820955e-01 -3.73845961e-03 -4.41661745e+01] [-1.22436441e-02 -5.66914597e-05 9.99925042e-01 -4.49116645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:-44.17, Z:-4.49 [[ 9.51215691e-01 3.08307230e-01 1.16344439e-02 2.15560219e+02] [-3.08284675e-01 9.51286839e-01 -3.72943736e-03 -4.41739266e+01] [-1.22175059e-02 -3.92214206e-05 9.99925363e-01 -4.49137132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.858623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.59, Y:-44.18, Z:-4.49 [[ 9.51460748e-01 3.07543952e-01 1.17967062e-02 2.15585531e+02] [-3.07520716e-01 9.51533876e-01 -3.78057815e-03 -4.41823685e+01] [-1.23876595e-02 -3.06598158e-05 9.99923270e-01 -4.49176320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.888623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.61, Y:-44.19, Z:-4.49 [[ 9.51597200e-01 3.07113192e-01 1.20106446e-02 2.15612401e+02] [-3.07089086e-01 9.51672994e-01 -3.84790827e-03 -4.41917654e+01] [-1.26119495e-02 -2.66791496e-05 9.99920466e-01 -4.49213566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.64, Y:-44.20, Z:-4.49 [[ 9.51410894e-01 3.07698679e-01 1.17827362e-02 2.15638549e+02] [-3.07675535e-01 9.51483852e-01 -3.77408085e-03 -4.41994268e+01] [-1.23723629e-02 -3.45580367e-05 9.99923459e-01 -4.49195297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.67, Y:-44.21, Z:-4.49 [[ 9.51144797e-01 3.08531005e-01 1.14975622e-02 2.15665949e+02] [-3.08509041e-01 9.51214286e-01 -3.68163709e-03 -4.42071260e+01] [-1.20725446e-02 -4.53319291e-05 9.99927123e-01 -4.49225279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.69, Y:-44.21, Z:-4.49 [[ 9.50827720e-01 3.09505223e-01 1.15396378e-02 2.15693023e+02] [-3.09483181e-01 9.50897741e-01 -3.69420827e-03 -4.42149497e+01] [-1.21163923e-02 -5.87681936e-05 9.99926592e-01 -4.49299986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.72, Y:-44.22, Z:-4.49 [[ 9.50284169e-01 3.11214418e-01 1.02753969e-02 2.15718851e+02] [-3.11197047e-01 9.50339719e-01 -3.28894273e-03 -4.42222593e+01] [-1.07886842e-02 -7.22429606e-05 9.99941798e-01 -4.49347626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.75, Y:-44.23, Z:-4.49 [[ 9.50077355e-01 3.11855215e-01 9.96722430e-03 2.15745991e+02] [-3.11838915e-01 9.50129633e-01 -3.18936143e-03 -4.42300005e+01] [-1.04647742e-02 -7.80283389e-05 9.99945240e-01 -4.49383349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.77, Y:-44.24, Z:-4.49 [[ 9.49954630e-01 3.12231307e-01 9.88998331e-03 2.15772362e+02] [-3.12215281e-01 9.50006108e-01 -3.16442377e-03 -4.42372274e+01] [-1.03835767e-02 -8.17449100e-05 9.99946086e-01 -4.49410046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.80, Y:-44.24, Z:-4.49 [[ 9.49843760e-01 3.12552190e-01 1.03903933e-02 2.15798504e+02] [-3.12534544e-01 9.49900584e-01 -3.32249140e-03 -4.42439110e+01] [-1.09082926e-02 -9.15091068e-05 9.99940499e-01 -4.49423777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.83, Y:-44.25, Z:-4.49 [[ 9.49840500e-01 3.12543432e-01 1.09374195e-02 2.15825028e+02] [-3.12523891e-01 9.49903465e-01 -3.49628382e-03 -4.42517735e+01] [-1.14822332e-02 -9.72929197e-05 9.99934072e-01 -4.49406018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:-44.26, Z:-4.49 [[ 9.49875239e-01 3.12410541e-01 1.16912478e-02 2.15851246e+02] [-3.12388215e-01 9.49947179e-01 -3.73631406e-03 -4.42596953e+01] [-1.22733318e-02 -1.03175816e-04 9.99924675e-01 -4.49419519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.88, Y:-44.27, Z:-4.49 [[ 9.49890592e-01 3.12348083e-01 1.21052496e-02 2.15876627e+02] [-3.12324158e-01 9.49967717e-01 -3.86743640e-03 -4.42678877e+01] [-1.27075826e-02 -1.07120428e-04 9.99919250e-01 -4.49408260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.90, Y:-44.28, Z:-4.49 [[ 9.49823890e-01 3.12545496e-01 1.22430110e-02 2.15902899e+02] [-3.12521055e-01 9.49902785e-01 -3.91026004e-03 -4.42760800e+01] [-1.28518045e-02 -1.12140321e-04 9.99917406e-01 -4.49393125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.93, Y:-44.28, Z:-4.49 [[ 9.49701845e-01 3.12922834e-01 1.20708816e-02 2.15928767e+02] [-3.12899116e-01 9.49778546e-01 -3.85443246e-03 -4.42837734e+01] [-1.26708043e-02 -1.16406554e-04 9.99919715e-01 -4.49462956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.96, Y:-44.29, Z:-4.50 [[ 9.49522813e-01 3.13473701e-01 1.18602942e-02 2.15955663e+02] [-3.13450861e-01 9.49596874e-01 -3.78604993e-03 -4.42914639e+01] [-1.24493254e-02 -1.22678658e-04 9.99922497e-01 -4.49514745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.98, Y:-44.30, Z:-4.50 [[ 9.49082484e-01 3.14818803e-01 1.14699746e-02 2.15982212e+02] [-3.14797548e-01 9.49151781e-01 -3.66068662e-03 -4.42974700e+01] [-1.20391998e-02 -1.36426332e-04 9.99927517e-01 -4.49598309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.01, Y:-44.30, Z:-4.50 [[ 9.48889776e-01 3.15413692e-01 1.10632768e-02 2.16009597e+02] [-3.15393970e-01 9.48954258e-01 -3.52985357e-03 -4.43048539e+01] [-1.16119078e-02 -1.39848843e-04 9.99932570e-01 -4.49630173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.04, Y:-44.31, Z:-4.50 [[ 9.48666745e-01 3.16099143e-01 1.06178671e-02 2.16035515e+02] [-3.16081028e-01 9.48726152e-01 -3.38705817e-03 -4.43108729e+01] [-1.11440944e-02 -1.42916919e-04 9.99937892e-01 -4.49617264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.06, Y:-44.32, Z:-4.50 [[ 9.48591464e-01 3.16324142e-01 1.06429409e-02 2.16062237e+02] [-3.16305957e-01 9.48651156e-01 -3.39498132e-03 -4.43182610e+01] [-1.11703527e-02 -1.45975313e-04 9.99937599e-01 -4.49696321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.09, Y:-44.33, Z:-4.50 [[ 9.48565387e-01 3.16393383e-01 1.09057119e-02 2.16087913e+02] [-3.16374330e-01 9.48628064e-01 -3.47554961e-03 -4.43253190e+01] [-1.14451052e-02 -1.53501222e-04 9.99934491e-01 -4.49708554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.458623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.12, Y:-44.33, Z:-4.50 [[ 9.48665930e-01 3.16089870e-01 1.09611497e-02 2.16115106e+02] [-3.16070605e-01 9.48729240e-01 -3.49307632e-03 -4.43323985e+01] [-1.15032893e-02 -1.50734728e-04 9.99933824e-01 -4.49744657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.488623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.14, Y:-44.34, Z:-4.50 [[ 9.48667992e-01 3.16073712e-01 1.12450208e-02 2.16142037e+02] [-3.16053473e-01 9.48734623e-01 -3.58027128e-03 -4.43382976e+01] [-1.18001702e-02 -1.57539105e-04 9.99930363e-01 -4.49762580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.17, Y:-44.34, Z:-4.50 [[ 9.48751908e-01 3.15822318e-01 1.12285359e-02 2.16168902e+02] [-3.15802123e-01 9.48818339e-01 -3.57484640e-03 -4.43449432e+01] [-1.17828570e-02 -1.54353115e-04 9.99930568e-01 -4.49842393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.20, Y:-44.35, Z:-4.50 [[ 9.48694077e-01 3.15991350e-01 1.13585224e-02 2.16195932e+02] [-3.15970735e-01 9.48762057e-01 -3.61302114e-03 -4.43503556e+01] [-1.19182185e-02 -1.61308926e-04 9.99928962e-01 -4.49885486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.22, Y:-44.36, Z:-4.50 [[ 9.48716449e-01 3.15932713e-01 1.11184240e-02 2.16221980e+02] [-3.15912968e-01 9.48781585e-01 -3.53568045e-03 -4.43569555e+01] [-1.16659931e-02 -1.58096120e-04 9.99931937e-01 -4.49910029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.25, Y:-44.36, Z:-4.50 [[ 9.48756926e-01 3.15810365e-01 1.11404342e-02 2.16249221e+02] [-3.15790535e-01 9.48822317e-01 -3.54250713e-03 -4.43632858e+01] [-1.16890531e-02 -1.57065508e-04 9.99931668e-01 -4.49984650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.28, Y:-44.37, Z:-4.50 [[ 9.48772410e-01 3.15765650e-01 1.10891292e-02 2.16276180e+02] [-3.15746025e-01 9.48837199e-01 -3.52396650e-03 -4.43692378e+01] [-1.16345259e-02 -1.57906290e-04 9.99932304e-01 -4.50033781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.30, Y:-44.37, Z:-4.50 [[ 9.48825671e-01 3.15594331e-01 1.14045777e-02 2.16302941e+02] [-3.15573595e-01 9.48894194e-01 -3.62135613e-03 -4.43728689e+01] [-1.19646170e-02 -1.62947924e-04 9.99928408e-01 -4.50008195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.33, Y:-44.38, Z:-4.50 [[ 9.48996125e-01 3.15065454e-01 1.18369709e-02 2.16329522e+02] [-3.15043101e-01 9.49069930e-01 -3.75660684e-03 -4.43786998e+01] [-1.24176902e-02 -1.64150676e-04 9.99922884e-01 -4.50103794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.36, Y:-44.38, Z:-4.50 [[ 9.49416327e-01 3.13810343e-01 1.14763449e-02 2.16357719e+02] [-3.13789241e-01 9.49485676e-01 -3.64197347e-03 -4.43825580e+01] [-1.20395140e-02 -1.43404485e-04 9.99927512e-01 -4.50124713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.39, Y:-44.39, Z:-4.50 [[ 9.49709857e-01 3.12927040e-01 1.13073514e-02 2.16385482e+02] [-3.12906518e-01 9.49777158e-01 -3.58616759e-03 -4.43889955e+01] [-1.18616729e-02 -1.32325258e-04 9.99929639e-01 -4.50220897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.41, Y:-44.40, Z:-4.50 [[ 9.50006706e-01 3.12034491e-01 1.10333873e-02 2.16413063e+02] [-3.12014915e-01 9.50070767e-01 -3.49719174e-03 -4.43955535e+01] [-1.15737432e-02 -1.20225798e-04 9.99933015e-01 -4.50311778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:216.44, Y:-44.40, Z:-4.50 [[ 9.50341178e-01 3.11022380e-01 1.08038930e-02 2.16440593e+02] [-3.11003568e-01 9.50402582e-01 -3.42240332e-03 -4.44016856e+01] [-1.13324919e-02 -1.07598483e-04 9.99935779e-01 -4.50362078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:216.47, Y:-44.40, Z:-4.50 [[ 9.50868262e-01 3.09416887e-01 1.05232678e-02 2.16467671e+02] [-3.09398973e-01 9.50926486e-01 -3.33065063e-03 -4.44049289e+01] [-1.10374136e-02 -8.88782895e-05 9.99939082e-01 -4.50427191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.50, Y:-44.41, Z:-4.50 [[ 9.51151053e-01 3.08552211e-01 1.03540709e-02 2.16495236e+02] [-3.08534817e-01 9.51207405e-01 -3.27712326e-03 -4.44104119e+01] [-1.08600326e-02 -7.75521461e-05 9.99941025e-01 -4.50441245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.52, Y:-44.42, Z:-4.51 [[ 9.51384244e-01 3.07822941e-01 1.06328588e-02 2.16521707e+02] [-3.07804586e-01 9.51443657e-01 -3.36233009e-03 -4.44159753e+01] [-1.11515684e-02 -7.39748371e-05 9.99937817e-01 -4.50510054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.55, Y:-44.42, Z:-4.51 [[ 9.51910692e-01 3.06194435e-01 1.05357497e-02 2.16550280e+02] [-3.06176313e-01 9.51968994e-01 -3.33172229e-03 -4.44182530e+01] [-1.10498618e-02 -5.42949067e-05 9.99938947e-01 -4.50515947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.58, Y:-44.42, Z:-4.51 [[ 9.52192421e-01 3.05312065e-01 1.06834326e-02 2.16576918e+02] [-3.05293407e-01 9.52252351e-01 -3.37561915e-03 -4.44232857e+01] [-1.12039410e-02 -4.73425577e-05 9.99937233e-01 -4.50564782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.60, Y:-44.43, Z:-4.51 [[ 9.52486554e-01 3.04383215e-01 1.09646141e-02 2.16604792e+02] [-3.04363515e-01 9.52549661e-01 -3.46317839e-03 -4.44289081e+01] [-1.14984729e-02 -3.85976514e-05 9.99933890e-01 -4.50641602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.63, Y:-44.44, Z:-4.51 [[ 9.52715627e-01 3.03667299e-01 1.09135153e-02 2.16632504e+02] [-3.03647760e-01 9.52778133e-01 -3.44495795e-03 -4.44350846e+01] [-1.14442798e-02 -3.17992000e-05 9.99934512e-01 -4.50655896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.66, Y:-44.44, Z:-4.51 [[ 9.53163916e-01 3.02248991e-01 1.11398536e-02 2.16660612e+02] [-3.02228561e-01 9.53229011e-01 -3.51422207e-03 -4.44382938e+01] [-1.16810017e-02 -1.71522507e-05 9.99931775e-01 -4.50662601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:216.69, Y:-44.44, Z:-4.51 [[ 9.53437060e-01 3.01387721e-01 1.11001756e-02 2.16688535e+02] [-3.01367400e-01 9.53501674e-01 -3.49978141e-03 -4.44432503e+01] [-1.16388272e-02 -8.40977498e-06 9.99932267e-01 -4.50693014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.71, Y:-44.45, Z:-4.51 [[ 9.53768674e-01 3.00338637e-01 1.10462496e-02 2.16714757e+02] [-3.00318475e-01 9.53832639e-01 -3.47997779e-03 -4.44481373e+01] [-1.15814452e-02 1.70096423e-06 9.99932933e-01 -4.50791100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.148623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:216.74, Y:-44.45, Z:-4.51 [[ 9.54176459e-01 2.99041668e-01 1.10166425e-02 2.16740989e+02] [-2.99021551e-01 9.54240054e-01 -3.46860911e-03 -4.44534500e+01] [-1.15497802e-02 1.54516135e-05 9.99933299e-01 -4.50863626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.77, Y:-44.46, Z:-4.51 [[ 9.55077217e-01 2.96158460e-01 1.08478641e-02 2.16768074e+02] [-2.96138775e-01 9.55138819e-01 -3.41494895e-03 -4.44561824e+01] [-1.13725821e-02 4.90667629e-05 9.99935329e-01 -4.50895678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.80, Y:-44.46, Z:-4.51 [[ 9.55604776e-01 2.94447908e-01 1.09517330e-02 2.16795549e+02] [-2.94427744e-01 9.55667528e-01 -3.44656987e-03 -4.44620611e+01] [-1.14810509e-02 6.90645787e-05 9.99934088e-01 -4.50944736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:216.82, Y:-44.47, Z:-4.51 [[ 9.56869474e-01 2.90279943e-01 1.17628741e-02 2.16824299e+02] [-2.90256393e-01 9.56941764e-01 -3.69965665e-03 -4.44655379e+01] [-1.23303216e-02 1.25839112e-04 9.99923971e-01 -4.50931947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.268623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.85, Y:-44.47, Z:-4.51 [[ 9.57524712e-01 2.88107501e-01 1.18529653e-02 2.16851556e+02] [-2.88083448e-01 9.57598060e-01 -3.72592068e-03 -4.44720418e+01] [-1.24238423e-02 1.53017992e-04 9.99922809e-01 -4.50951917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.298623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.88, Y:-44.48, Z:-4.51 [[ 9.58343128e-01 2.85375786e-01 1.17944756e-02 2.16879059e+02] [-2.85351793e-01 9.58415686e-01 -3.70515997e-03 -4.44789173e+01] [-1.23613733e-02 1.85239852e-04 9.99923578e-01 -4.51018947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.328623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:216.91, Y:-44.48, Z:-4.50 [[ 9.59206107e-01 2.82480614e-01 1.13290824e-02 2.16905246e+02] [-2.82458306e-01 9.59272984e-01 -3.55625262e-03 -4.44847005e+01] [-1.18722551e-02 2.11185813e-04 9.99929500e-01 -4.50269213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.93, Y:-44.49, Z:-4.51 [[ 9.60608157e-01 2.77676958e-01 1.12905429e-02 2.16932002e+02] [-2.77654483e-01 9.60674469e-01 -3.54299476e-03 -4.44923249e+01] [-1.18303443e-02 2.68559813e-04 9.99929983e-01 -4.51155611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:216.96, Y:-44.50, Z:-4.51 [[ 9.61315049e-01 2.75227723e-01 1.10940455e-02 2.16957843e+02] [-2.75205897e-01 9.61379018e-01 -3.47824163e-03 -4.44997825e+01] [-1.16228911e-02 2.90539268e-04 9.99932410e-01 -4.51181457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.418623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:216.98, Y:-44.51, Z:-4.50 [[ 9.62601871e-01 2.70714447e-01 1.05511630e-02 2.16984944e+02] [-2.70694433e-01 9.62659639e-01 -3.30805181e-03 -4.45058601e+01] [-1.10527162e-02 3.28195773e-04 9.99938863e-01 -4.50271431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.01, Y:-44.51, Z:-4.51 [[ 9.63114557e-01 2.68863963e-01 1.10688545e-02 2.17010964e+02] [-2.68841843e-01 9.63178092e-01 -3.46793820e-03 -4.45147330e+01] [-1.15936818e-02 3.64250510e-04 9.99932725e-01 -4.51343983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.04, Y:-44.52, Z:-4.51 [[ 9.63649644e-01 2.66949819e-01 1.08239473e-02 2.17036352e+02] [-2.66928576e-01 9.63710357e-01 -3.38861489e-03 -4.45232644e+01] [-1.13357403e-02 3.76216677e-04 9.99935678e-01 -4.51368453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.06, Y:-44.53, Z:-4.51 [[ 9.64522238e-01 2.63744329e-01 1.16525577e-02 2.17061529e+02] [-2.63719501e-01 9.64592521e-01 -3.64587736e-03 -4.45339878e+01] [-1.22015495e-02 4.43523072e-04 9.99925460e-01 -4.51371560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.09, Y:-44.54, Z:-4.51 [[ 9.64917982e-01 2.62287549e-01 1.17699006e-02 2.17087553e+02] [-2.62262114e-01 9.64989650e-01 -3.68230412e-03 -4.45432493e+01] [-1.23236547e-02 4.66322460e-04 9.99923952e-01 -4.51384442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.11, Y:-44.55, Z:-4.51 [[ 9.65221970e-01 2.61180819e-01 1.14511735e-02 2.17112867e+02] [-2.61156696e-01 9.65289782e-01 -3.57996238e-03 -4.45523957e+01] [-1.19887182e-02 4.64907715e-04 9.99928025e-01 -4.51417469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.14, Y:-44.56, Z:-4.51 [[ 9.65264397e-01 2.61023957e-01 1.14515308e-02 2.17140102e+02] [-2.60999837e-01 9.65332211e-01 -3.57881892e-03 -4.45607129e+01] [-1.19886890e-02 4.65658825e-04 9.99928025e-01 -4.51472425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.17, Y:-44.57, Z:-4.52 [[ 9.65470848e-01 2.60274644e-01 1.10973868e-02 2.17166190e+02] [-2.60251964e-01 9.65534515e-01 -3.46641039e-03 -4.45698477e+01] [-1.16171287e-02 4.58601468e-04 9.99932414e-01 -4.51518525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.19, Y:-44.58, Z:-4.52 [[ 9.65364881e-01 2.60670690e-01 1.10198805e-02 2.17190873e+02] [-2.60648386e-01 9.65427672e-01 -3.43921194e-03 -4.45809481e+01] [-1.15353993e-02 4.47780358e-04 9.99933365e-01 -4.51557521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68862385300002 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:217.22, Y:-44.59, Z:-4.51 [[ 9.65197159e-01 2.61330723e-01 1.00347822e-02 2.17217674e+02] [-2.61312268e-01 9.65249239e-01 -3.13134331e-03 -4.45900116e+01] [-1.05043821e-02 4.00151970e-04 9.99944747e-01 -4.50556978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.24, Y:-44.60, Z:-4.52 [[ 9.64832288e-01 2.62653546e-01 1.05721838e-02 2.17243356e+02] [-2.62633150e-01 9.64890124e-01 -3.29821963e-03 -4.46005408e+01] [-1.10672848e-02 4.05622856e-04 9.99938673e-01 -4.51635480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.27, Y:-44.61, Z:-4.52 [[ 9.63749074e-01 2.66620973e-01 1.00488225e-02 2.17268433e+02] [-2.66602790e-01 9.63801401e-01 -3.13222690e-03 -4.46114132e+01] [-1.05201865e-02 3.39636669e-04 9.99944604e-01 -4.51717929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:217.29, Y:-44.62, Z:-4.51 [[ 9.63149091e-01 2.68809862e-01 9.22425314e-03 2.17294082e+02] [-2.68794647e-01 9.63193218e-01 -2.87455008e-03 -4.46198322e+01] [-9.65744547e-03 2.89190430e-04 9.99953324e-01 -4.50993176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:-44.63, Z:-4.52 [[ 9.61636707e-01 2.74155830e-01 9.66564355e-03 2.17319589e+02] [-2.74139392e-01 9.61685250e-01 -3.01228003e-03 -4.46307558e+01] [-1.01211410e-02 2.46985394e-04 9.99948749e-01 -4.51732497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:-44.64, Z:-4.52 [[ 9.60874099e-01 2.76808427e-01 9.90255100e-03 2.17346100e+02] [-2.76791336e-01 9.60925099e-01 -3.08398820e-03 -4.46400071e+01] [-1.03692837e-02 2.22384060e-04 9.99946213e-01 -4.51811990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.37, Y:-44.65, Z:-4.52 [[ 9.60095908e-01 2.79496928e-01 9.86478935e-03 2.17371182e+02] [-2.79480137e-01 9.60146567e-01 -3.06959539e-03 -4.46489469e+01] [-1.03295861e-02 1.90093299e-04 9.99946630e-01 -4.51836259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:-44.66, Z:-4.52 [[ 9.59382556e-01 2.81936440e-01 9.84651877e-03 2.17396997e+02] [-2.81919858e-01 9.59433071e-01 -3.06203773e-03 -4.46581393e+01] [-1.03103758e-02 1.61736406e-04 9.99946834e-01 -4.51856627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.928623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.42, Y:-44.67, Z:-4.52 [[ 9.57979118e-01 2.86663916e-01 9.99046185e-03 2.17423039e+02] [-2.86647102e-01 9.58031203e-01 -3.10687900e-03 -4.46690392e+01] [-1.04618043e-02 1.12588270e-04 9.99945267e-01 -4.51931126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.45, Y:-44.68, Z:-4.52 [[ 9.57375675e-01 2.88675757e-01 9.90577835e-03 2.17448455e+02] [-2.88659365e-01 9.57426916e-01 -3.07752385e-03 -4.46778636e+01] [-1.03724653e-02 8.69507860e-05 9.99946201e-01 -4.51919379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.47, Y:-44.69, Z:-4.52 [[ 9.56221519e-01 2.92482137e-01 9.72656609e-03 2.17473892e+02] [-2.92466538e-01 9.56270986e-01 -3.02098007e-03 -4.46875911e+01] [-1.01848156e-02 4.40310374e-05 9.99948132e-01 -4.51962224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:-44.70, Z:-4.52 [[ 9.55665305e-01 2.94294923e-01 9.71197504e-03 2.17500902e+02] [-2.94279464e-01 9.55714653e-01 -3.01657262e-03 -4.46962600e+01] [-1.01696389e-02 2.47989827e-05 9.99948288e-01 -4.52026925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.048623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.53, Y:-44.70, Z:-4.52 [[ 9.55175051e-01 2.95875841e-01 9.90495693e-03 2.17527798e+02] [-2.95859867e-01 9.55226406e-01 -3.07446361e-03 -4.47045895e+01] [-1.03711359e-02 6.17168856e-06 9.99946218e-01 -4.52076811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.55, Y:-44.71, Z:-4.52 [[ 9.54662407e-01 2.97528592e-01 9.81969078e-03 2.17554623e+02] [-2.97513000e-01 9.54712908e-01 -3.04600777e-03 -4.47129809e+01] [-1.02812599e-02 -1.35765485e-05 9.99947146e-01 -4.52082964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:217.58, Y:-44.72, Z:-4.52 [[ 9.53693404e-01 3.00592731e-01 1.06255170e-02 2.17580110e+02] [-3.00574703e-01 9.53752592e-01 -3.29260103e-03 -4.47206395e+01] [-1.11238464e-02 -5.36297474e-05 9.99938127e-01 -4.52092124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.61, Y:-44.73, Z:-4.52 [[ 9.53301571e-01 3.01828755e-01 1.07478744e-02 2.17606016e+02] [-3.01810398e-01 9.53362155e-01 -3.32953750e-03 -4.47281207e+01] [-1.12515668e-02 -6.97669027e-05 9.99936697e-01 -4.52115937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.63, Y:-44.74, Z:-4.52 [[ 9.53144062e-01 3.02321275e-01 1.08740025e-02 2.17632847e+02] [-3.02302518e-01 9.53206085e-01 -3.36847959e-03 -4.47356433e+01] [-1.13835284e-02 -7.65920122e-05 9.99935203e-01 -4.52177330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:217.66, Y:-44.74, Z:-4.52 [[ 9.53009583e-01 3.02756880e-01 1.05359579e-02 2.17658835e+02] [-3.02739329e-01 9.53067818e-01 -3.26086952e-03 -4.47430758e+01] [-1.10287331e-02 -8.20089320e-05 9.99939178e-01 -4.52192383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.69, Y:-44.75, Z:-4.52 [[ 9.53126232e-01 3.02413167e-01 9.83170377e-03 2.17685571e+02] [-3.02397864e-01 9.53176936e-01 -3.04311179e-03 -4.47499679e+01] [-1.02916303e-02 -7.26165436e-05 9.99947037e-01 -4.52261274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:217.71, Y:-44.76, Z:-4.52 [[ 9.53345730e-01 3.01723034e-01 9.75344000e-03 2.17712423e+02] [-3.01707958e-01 9.53395619e-01 -3.01697858e-03 -4.47576605e+01] [-1.02091789e-02 -6.64668107e-05 9.99947883e-01 -4.52329388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.74, Y:-44.77, Z:-4.52 [[ 9.53618878e-01 3.00845779e-01 1.01416054e-02 2.17739531e+02] [-3.00829452e-01 9.53672802e-01 -3.13487921e-03 -4.47651959e+01] [-1.06148884e-02 -6.14135896e-05 9.99943659e-01 -4.52362444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.77, Y:-44.77, Z:-4.52 [[ 9.54162378e-01 2.99111700e-01 1.03124751e-02 2.17765925e+02] [-2.99094749e-01 9.54218103e-01 -3.18469192e-03 -4.47725312e+01] [-1.07929290e-02 -4.56939229e-05 9.99941754e-01 -4.52393035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:-44.78, Z:-4.52 [[ 9.54515148e-01 2.97985846e-01 1.02600178e-02 2.17793036e+02] [-2.97969001e-01 9.54570288e-01 -3.16851323e-03 -4.47803751e+01] [-1.07380803e-02 -3.27733890e-05 9.99942345e-01 -4.52455554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.82, Y:-44.79, Z:-4.52 [[ 9.54881357e-01 2.96828271e-01 9.72480294e-03 2.17820374e+02] [-2.96813096e-01 9.54930876e-01 -3.00151193e-03 -4.47869131e+01] [-1.01774482e-02 -2.03610858e-05 9.99948208e-01 -4.51779537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.85, Y:-44.79, Z:-4.53 [[ 9.55317289e-01 2.95396927e-01 1.04657911e-02 2.17845945e+02] [-2.95379300e-01 9.55374615e-01 -3.22704694e-03 -4.47944384e+01] [-1.09520109e-02 -8.52431456e-06 9.99940025e-01 -4.52510896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.87, Y:-44.80, Z:-4.53 [[ 9.55612185e-01 2.94444108e-01 1.03932130e-02 2.17873234e+02] [-2.94426668e-01 9.55668702e-01 -3.20467062e-03 -4.48020596e+01] [-1.08760647e-02 2.38322231e-06 9.99940854e-01 -4.52591754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:-44.81, Z:-4.53 [[ 9.55912768e-01 2.93477894e-01 1.00749563e-02 2.17899247e+02] [-2.93461477e-01 9.55965860e-01 -3.10420539e-03 -4.48095930e+01] [-1.05423299e-02 1.07380234e-05 9.99944428e-01 -4.52657570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.93, Y:-44.82, Z:-4.53 [[ 9.56649674e-01 2.91069978e-01 9.98346754e-03 2.17925631e+02] [-2.91053744e-01 9.56701765e-01 -3.07432239e-03 -4.48163265e+01] [-1.04460440e-02 3.53239027e-05 9.99945438e-01 -4.52739359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:-44.82, Z:-4.53 [[ 9.57010684e-01 2.89891717e-01 9.66145696e-03 2.17952755e+02] [-2.89876451e-01 9.57059450e-01 -2.97533611e-03 -4.48245852e+01] [-1.01091140e-02 4.67995851e-05 9.99948901e-01 -4.52789546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:-44.83, Z:-4.53 [[ 9.57386781e-01 2.88647706e-01 9.64640113e-03 2.17979173e+02] [-2.88632443e-01 9.57435376e-01 -2.96888482e-03 -4.48326759e+01] [-1.00927675e-02 5.81067558e-05 9.99949065e-01 -4.52843276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.00, Y:-44.84, Z:-4.53 [[ 9.57797417e-01 2.87292712e-01 9.32768015e-03 2.18004958e+02] [-2.87278398e-01 9.57842833e-01 -2.86861111e-03 -4.48400203e+01] [-9.75858264e-03 6.79072998e-05 9.99952382e-01 -4.52827223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.03, Y:-44.85, Z:-4.53 [[ 9.57765662e-01 2.87388412e-01 9.63523525e-03 2.18031016e+02] [-2.87373161e-01 9.57814124e-01 -2.96147138e-03 -4.48474284e+01] [-1.00798570e-02 6.74875876e-05 9.99949195e-01 -4.52891036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.06, Y:-44.85, Z:-4.53 [[ 9.57790865e-01 2.87291517e-01 1.00121605e-02 2.18058498e+02] [-2.87275043e-01 9.57843191e-01 -3.07733211e-03 -4.48548844e+01] [-1.04741712e-02 7.11967492e-05 9.99945142e-01 -4.52897039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.678623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:-44.86, Z:-4.53 [[ 9.57382921e-01 2.88614811e-01 1.09285102e-02 2.18085642e+02] [-2.88595296e-01 9.57445292e-01 -3.35681316e-03 -4.48622274e+01] [-1.14322767e-02 5.98389494e-05 9.99934648e-01 -4.52940469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.11, Y:-44.87, Z:-4.53 [[ 9.57107381e-01 2.89534261e-01 1.07412102e-02 2.18111710e+02] [-2.89515497e-01 9.57167650e-01 -3.29659784e-03 -4.48693347e+01] [-1.12356170e-02 4.54513098e-05 9.99936877e-01 -4.52958952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.14, Y:-44.88, Z:-4.53 [[ 9.56872090e-01 2.90317943e-01 1.05496896e-02 2.18138893e+02] [-2.90299900e-01 9.56930243e-01 -3.23686925e-03 -4.48764145e+01] [-1.10350383e-02 3.46960005e-05 9.99939112e-01 -4.52990387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.17, Y:-44.88, Z:-4.53 [[ 9.56583009e-01 2.91275588e-01 1.03672281e-02 2.18165825e+02] [-2.91258242e-01 9.56639186e-01 -3.17882540e-03 -4.48832585e+01] [-1.08436109e-02 2.12697265e-05 9.99941206e-01 -4.53080436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.798623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.19, Y:-44.89, Z:-4.53 [[ 9.55747839e-01 2.94017292e-01 9.99497667e-03 2.18192657e+02] [-2.94001346e-01 9.55800100e-01 -3.06218330e-03 -4.48882999e+01] [-1.04535345e-02 -1.18615177e-05 9.99945360e-01 -4.53120403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.22, Y:-44.89, Z:-4.53 [[ 9.55338578e-01 2.95334751e-01 1.02754737e-02 2.18219756e+02] [-2.95317984e-01 9.55393837e-01 -3.14711377e-03 -4.48941726e+01] [-1.07465763e-02 -2.79729833e-05 9.99942253e-01 -4.53158002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.25, Y:-44.90, Z:-4.53 [[ 9.54332920e-01 2.98549543e-01 1.08096253e-02 2.18246786e+02] [-2.98531226e-01 9.54394135e-01 -3.30781278e-03 -4.48986531e+01] [-1.13041890e-02 -7.02560813e-05 9.99936103e-01 -4.53201776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.27, Y:-44.90, Z:-4.53 [[ 9.53987779e-01 2.99633603e-01 1.12704124e-02 2.18273241e+02] [-2.99613786e-01 9.54054347e-01 -3.44712502e-03 -4.49043432e+01] [-1.17854605e-02 -8.82558037e-05 9.99930545e-01 -4.53234466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.30, Y:-44.91, Z:-4.53 [[ 9.53683156e-01 3.00593156e-01 1.14975262e-02 2.18300054e+02] [-3.00572627e-01 9.53752454e-01 -3.51459457e-03 -4.49104242e+01] [-1.20222569e-02 -1.04031995e-04 9.99927725e-01 -4.53276552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.33, Y:-44.91, Z:-4.53 [[ 9.53382306e-01 3.01564556e-01 1.09999004e-02 2.18327882e+02] [-3.01545830e-01 9.53445754e-01 -3.36246834e-03 -4.49137064e+01] [-1.15018096e-02 -1.11256265e-04 9.99933846e-01 -4.53359708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.35, Y:-44.92, Z:-4.53 [[ 9.53339439e-01 3.01714028e-01 1.06093656e-02 2.18354711e+02] [-3.01696650e-01 9.53398465e-01 -3.24012265e-03 -4.49186499e+01] [-1.10925433e-02 -1.11873344e-04 9.99938470e-01 -4.53441448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.38, Y:-44.92, Z:-4.54 [[ 9.53490747e-01 3.01238529e-01 1.05235384e-02 2.18381934e+02] [-3.01221403e-01 9.53548812e-01 -3.21390039e-03 -4.49239305e+01] [-1.10028582e-02 -1.05490718e-04 9.99939461e-01 -4.53525106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.41, Y:-44.93, Z:-4.54 [[ 9.54187452e-01 2.99000626e-01 1.11772578e-02 2.18409226e+02] [-2.98981187e-01 9.54252911e-01 -3.41054504e-03 -4.49276710e+01] [-1.16856858e-02 -8.74905129e-05 9.99931716e-01 -4.53585946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.44, Y:-44.93, Z:-4.54 [[ 9.54646610e-01 2.97532151e-01 1.11565690e-02 2.18435478e+02] [-2.97512706e-01 9.54711796e-01 -3.40228801e-03 -4.49338385e+01] [-1.16635981e-02 -7.12383159e-05 9.99931975e-01 -4.53616363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.46, Y:-44.94, Z:-4.54 [[ 9.55315935e-01 2.95376320e-01 1.11487006e-02 2.18462946e+02] [-2.95356757e-01 9.55380986e-01 -3.39973796e-03 -4.49403954e+01] [-1.16554586e-02 -4.50201909e-05 9.99932072e-01 -4.53669716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:218.49, Y:-44.95, Z:-4.54 [[ 9.56430450e-01 2.91769615e-01 1.05491981e-02 2.18489760e+02] [-2.91751910e-01 9.56488626e-01 -3.21418049e-03 -4.49454251e+01] [-1.10279882e-02 -3.60858918e-06 9.99939190e-01 -4.53814408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.52, Y:-44.95, Z:-4.54 [[ 9.57074810e-01 2.89656743e-01 1.03334002e-02 2.18517337e+02] [-2.89639631e-01 9.57130592e-01 -3.14854017e-03 -4.49518931e+01] [-1.08024094e-02 2.04262637e-05 9.99941652e-01 -4.53774657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.54, Y:-44.96, Z:-4.54 [[ 9.57541305e-01 2.88111334e-01 1.03202676e-02 2.18543656e+02] [-2.88094208e-01 9.57596918e-01 -3.14151235e-03 -4.49583880e+01] [-1.07877618e-02 3.49185084e-05 9.99941810e-01 -4.53899592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.57, Y:-44.96, Z:-4.54 [[ 9.58701603e-01 2.84199352e-01 1.10437608e-02 2.18571553e+02] [-2.84179484e-01 9.58765206e-01 -3.36150065e-03 -4.49629509e+01] [-1.15437100e-02 8.42657966e-05 9.99933366e-01 -4.53910330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.60, Y:-44.97, Z:-4.54 [[ 9.59178330e-01 2.82583420e-01 1.11149570e-02 2.18598089e+02] [-2.82563223e-01 9.59242722e-01 -3.38003388e-03 -4.49698795e+01] [-1.16170832e-02 1.01377177e-04 9.99932514e-01 -4.53964387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.63, Y:-44.98, Z:-4.54 [[ 9.59633332e-01 2.81039194e-01 1.09927368e-02 2.18625427e+02] [-2.81019339e-01 9.59696284e-01 -3.34275660e-03 -4.49773840e+01] [-1.14891343e-02 1.18649033e-04 9.99933991e-01 -4.54084197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:-44.98, Z:-4.54 [[ 9.60253828e-01 2.78944757e-01 1.01196772e-02 2.18651947e+02] [-2.78927842e-01 9.60307141e-01 -3.07459396e-03 -4.49828294e+01] [-1.05756402e-02 1.29730896e-04 9.99944068e-01 -4.54163665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:-44.99, Z:-4.54 [[ 9.60440545e-01 2.78315906e-01 9.70650009e-03 2.18678990e+02] [-2.78300310e-01 9.60489583e-01 -2.94925751e-03 -4.49896735e+01] [-1.01438175e-02 1.31264506e-04 9.99948542e-01 -4.54218724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.71, Y:-45.00, Z:-4.54 [[ 9.60527579e-01 2.78028855e-01 9.31263318e-03 2.18706287e+02] [-2.78014502e-01 9.60572714e-01 -2.82787858e-03 -4.49965233e+01] [-9.73169317e-03 1.27208285e-04 9.99952638e-01 -4.54279826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:218.73, Y:-45.00, Z:-4.54 [[ 9.60350789e-01 2.78637489e-01 9.35473832e-03 2.18732566e+02] [-2.78623063e-01 9.60396343e-01 -2.83781106e-03 -4.50015602e+01] [-9.77497702e-03 1.18848238e-04 9.99952217e-01 -4.54292434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.428623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:-45.01, Z:-4.54 [[ 9.60150753e-01 2.79310738e-01 9.80011426e-03 2.18759530e+02] [-2.79294941e-01 9.60200759e-01 -2.97295138e-03 -4.50081757e+01] [-1.02404544e-02 1.17359174e-04 9.99947558e-01 -4.54337357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.79, Y:-45.01, Z:-4.54 [[ 9.59848229e-01 2.80338642e-01 1.00808045e-02 2.18786865e+02] [-2.80322005e-01 9.59901159e-01 -3.05603940e-03 -4.50144562e+01] [-1.05333018e-02 1.07462682e-04 9.99944517e-01 -4.54345755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.488623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:-45.02, Z:-4.54 [[ 9.59099882e-01 2.82883320e-01 1.02197590e-02 2.18813852e+02] [-2.82866397e-01 9.59154326e-01 -3.09523115e-03 -4.50192871e+01] [-1.06779153e-02 7.78094353e-05 9.99942986e-01 -4.54354572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:-45.03, Z:-4.54 [[ 9.59143882e-01 2.82734096e-01 1.02198026e-02 2.18841160e+02] [-2.82717165e-01 9.59198324e-01 -3.09508745e-03 -4.50273371e+01] [-1.06779043e-02 7.93205749e-05 9.99942986e-01 -4.54409520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:-45.03, Z:-4.54 [[ 9.58832468e-01 2.83788905e-01 1.02056954e-02 2.18868138e+02] [-2.83772098e-01 9.58886778e-01 -3.08926426e-03 -4.50338355e+01] [-1.06628053e-02 6.59952749e-05 9.99943148e-01 -4.54464387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:-45.04, Z:-4.55 [[ 9.58560041e-01 2.84704937e-01 1.02833574e-02 2.18895052e+02] [-2.84687947e-01 9.58615197e-01 -3.11077655e-03 -4.50399226e+01] [-1.07434361e-02 5.43181876e-05 9.99942286e-01 -4.54540623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.608623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.92, Y:-45.05, Z:-4.55 [[ 9.58328382e-01 2.85495279e-01 9.95785863e-03 2.18921280e+02] [-2.85479414e-01 9.58380115e-01 -3.01000396e-03 -4.50460413e+01] [-1.04027556e-02 4.18085783e-05 9.99945889e-01 -4.54617561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:-45.05, Z:-4.55 [[ 9.58153693e-01 2.86093423e-01 9.59446246e-03 2.18947676e+02] [-2.86078741e-01 9.58201728e-01 -2.89856570e-03 -4.50523657e+01] [-1.00226911e-02 3.24996859e-05 9.99949771e-01 -4.54715499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.97, Y:-45.06, Z:-4.55 [[ 9.57924377e-01 2.86876734e-01 9.09001277e-03 2.18973967e+02] [-2.86863597e-01 9.57967504e-01 -2.74548533e-03 -4.50580576e+01] [-9.49555271e-03 2.23735622e-05 9.99954916e-01 -4.54791990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.00, Y:-45.06, Z:-4.55 [[ 9.57988498e-01 2.86663924e-01 9.04613861e-03 2.19001321e+02] [-2.86650902e-01 9.58031207e-01 -2.73248762e-03 -4.50648613e+01] [-9.44978872e-03 2.46079234e-05 9.99955349e-01 -4.54860649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.03, Y:-45.07, Z:-4.55 [[ 9.58200673e-01 2.85944168e-01 9.34899306e-03 2.19027976e+02] [-2.85930248e-01 9.58246279e-01 -2.82156041e-03 -4.50702810e+01] [-9.76544656e-03 3.04611762e-05 9.99952316e-01 -4.54880680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.06, Y:-45.08, Z:-4.55 [[ 9.58428907e-01 2.85167000e-01 9.68564628e-03 2.19055228e+02] [-2.85152029e-01 9.58477846e-01 -2.92235023e-03 -4.50774003e+01] [-1.01168352e-02 3.89832569e-05 9.99948823e-01 -4.54956277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.08, Y:-45.08, Z:-4.55 [[ 9.58667898e-01 2.84357165e-01 9.84194122e-03 2.19081965e+02] [-2.84341683e-01 9.58718416e-01 -2.96766983e-03 -4.50840206e+01] [-1.02795285e-02 4.65356762e-05 9.99947163e-01 -4.54893640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.11, Y:-45.09, Z:-4.55 [[ 9.59068564e-01 2.82964039e-01 1.09014529e-02 2.19108636e+02] [-2.82944991e-01 9.59130517e-01 -3.28385112e-03 -4.50903655e+01] [-1.13851279e-02 6.49268873e-05 9.99935185e-01 -4.54895918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:-45.10, Z:-4.55 [[ 9.59328397e-01 2.82068690e-01 1.12374938e-02 2.19135439e+02] [-2.82048389e-01 9.59394209e-01 -3.38496742e-03 -4.50972752e+01] [-1.17359798e-02 7.77783346e-05 9.99931128e-01 -4.54956223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.16, Y:-45.10, Z:-4.55 [[ 9.59847009e-01 2.80290607e-01 1.14409787e-02 2.19162140e+02] [-2.80269467e-01 9.59915187e-01 -3.44384056e-03 -4.51043036e+01] [-1.19476454e-02 9.90030535e-05 9.99928619e-01 -4.54974383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.19, Y:-45.11, Z:-4.55 [[ 9.60139027e-01 2.79296773e-01 1.12410558e-02 2.19187619e+02] [-2.79276333e-01 9.60204822e-01 -3.38060933e-03 -4.51119474e+01] [-1.17379093e-02 1.06494095e-04 9.99931103e-01 -4.55030361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.21, Y:-45.12, Z:-4.55 [[ 9.60488641e-01 2.78093685e-01 1.12014685e-02 2.19214031e+02] [-2.78073309e-01 9.60553948e-01 -3.36853949e-03 -4.51197914e+01] [-1.16963843e-02 1.20614505e-04 9.99931588e-01 -4.55137122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.24, Y:-45.13, Z:-4.55 [[ 9.60847650e-01 2.76855671e-01 1.10784024e-02 2.19240882e+02] [-2.76835683e-01 9.60911505e-01 -3.32935581e-03 -4.51276199e+01] [-1.15671153e-02 1.32106629e-04 9.99933090e-01 -4.55151290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.27, Y:-45.14, Z:-4.55 [[ 9.61503821e-01 2.74581133e-01 1.07519106e-02 2.19266695e+02] [-2.74562197e-01 9.61563923e-01 -3.22827209e-03 -4.51352348e+01] [-1.12250720e-02 1.51927751e-04 9.99936985e-01 -4.55255686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.29, Y:-45.14, Z:-4.55 [[ 9.61890443e-01 2.73244479e-01 1.02093208e-02 2.19293158e+02] [-2.73227329e-01 9.61944608e-01 -3.06550217e-03 -4.51433958e+01] [-1.06584326e-02 1.59211793e-04 9.99943185e-01 -4.55301504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.32, Y:-45.15, Z:-4.55 [[ 9.62269274e-01 2.71909897e-01 1.01416451e-02 2.19318982e+02] [-2.71892931e-01 9.62322700e-01 -3.04216131e-03 -4.51518067e+01] [-1.05867290e-02 1.69936743e-04 9.99943945e-01 -4.55401216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.35, Y:-45.16, Z:-4.56 [[ 9.62759510e-01 2.70177828e-01 9.90285963e-03 2.19345350e+02] [-2.70161559e-01 9.62810421e-01 -2.97066673e-03 -4.51601334e+01] [-1.03371847e-02 1.84665655e-04 9.99946553e-01 -4.55516394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.37, Y:-45.17, Z:-4.56 [[ 9.63658975e-01 2.66955907e-01 9.79407646e-03 2.19370658e+02] [-2.66939857e-01 9.63708721e-01 -2.93509699e-03 -4.51696741e+01] [-1.02221784e-02 2.14003189e-04 9.99947729e-01 -4.55615443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.148623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.40, Y:-45.18, Z:-4.56 [[ 9.64074803e-01 2.65449445e-01 9.81665733e-03 2.19397338e+02] [-2.65433242e-01 9.64124753e-01 -2.94197094e-03 -4.51783250e+01] [-1.02454269e-02 2.30612879e-04 9.99947488e-01 -4.55618505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.178623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:-45.19, Z:-4.56 [[ 9.64620558e-01 2.63450927e-01 1.00393243e-02 2.19422807e+02] [-2.63433904e-01 9.64672765e-01 -3.00564752e-03 -4.51879615e+01] [-1.04765034e-02 2.54610976e-04 9.99945088e-01 -4.55675119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.45, Y:-45.20, Z:-4.56 [[ 9.64868828e-01 2.62550038e-01 9.77868476e-03 2.19448943e+02] [-2.62533841e-01 9.64918344e-01 -2.92767650e-03 -4.51968474e+01] [-1.02042939e-02 2.57588128e-04 9.99947902e-01 -4.55684998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.238623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:219.48, Y:-45.20, Z:-4.55 [[ 9.65064559e-01 2.61861849e-01 8.87519325e-03 2.19476055e+02] [-2.61848488e-01 9.65105339e-01 -2.65602840e-03 -4.52045537e+01] [-9.26100890e-03 2.39282950e-04 9.99957087e-01 -4.54847983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.50, Y:-45.22, Z:-4.56 [[ 9.65245323e-01 2.61162576e-01 9.77623558e-03 2.19501772e+02] [-2.61146353e-01 9.65294793e-01 -2.92327964e-03 -4.52171868e+01] [-1.02004005e-02 2.68653733e-04 9.99947938e-01 -4.55799709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.298623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:219.53, Y:-45.23, Z:-4.56 [[ 9.65229986e-01 2.61206247e-01 1.01177985e-02 2.19527188e+02] [-2.61188906e-01 9.65282975e-01 -3.02225428e-03 -4.52265919e+01] [-1.05559703e-02 2.74513738e-04 9.99944247e-01 -4.55844598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.55, Y:-45.24, Z:-4.56 [[ 9.65248525e-01 2.61129434e-01 1.03297444e-02 2.19552280e+02] [-2.61111365e-01 9.65303755e-01 -3.08461032e-03 -4.52357508e+01] [-1.07768236e-02 2.80201898e-04 9.99941889e-01 -4.55830908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.58, Y:-45.25, Z:-4.56 [[ 9.65093658e-01 2.61707611e-01 1.01665090e-02 2.19578120e+02] [-2.61690141e-01 9.65147167e-01 -3.03587892e-03 -4.52473991e+01] [-1.06066900e-02 2.69432320e-04 9.99943711e-01 -4.55904479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.388623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.60, Y:-45.26, Z:-4.56 [[ 9.64934130e-01 2.62309460e-01 9.79139171e-03 2.19603764e+02] [-2.62293314e-01 9.64983774e-01 -2.92114918e-03 -4.52568428e+01] [-1.02147792e-02 2.50499967e-04 9.99947796e-01 -4.55923420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.418623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.63, Y:-45.27, Z:-4.56 [[ 9.64770697e-01 2.62903152e-01 9.97170595e-03 2.19630517e+02] [-2.62886436e-01 9.64822196e-01 -2.97509879e-03 -4.52657742e+01] [-1.04030861e-02 2.48861896e-04 9.99945855e-01 -4.55582895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.65, Y:-45.28, Z:-4.56 [[ 9.64005808e-01 2.65660279e-01 1.08360129e-02 2.19654984e+02] [-2.65640752e-01 9.64066679e-01 -3.22953807e-03 -4.52776335e+01] [-1.13045989e-02 2.34806844e-04 9.99936073e-01 -4.55996276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.68, Y:-45.29, Z:-4.56 [[ 9.63622697e-01 2.67042553e-01 1.09348995e-02 2.19681017e+02] [-2.67022758e-01 9.63684713e-01 -3.25888984e-03 -4.52870111e+01] [-1.14080578e-02 2.20473187e-04 9.99934902e-01 -4.56014207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.71, Y:-45.30, Z:-4.56 [[ 9.62559089e-01 2.70852968e-01 1.08935898e-02 2.19705396e+02] [-2.70833601e-01 9.62620715e-01 -3.24349418e-03 -4.52980886e+01] [-1.13649052e-02 1.71704651e-04 9.99935403e-01 -4.56060237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.73, Y:-45.31, Z:-4.56 [[ 9.62000463e-01 2.72828713e-01 1.09363033e-02 2.19730867e+02] [-2.72809332e-01 9.62062613e-01 -3.25522295e-03 -4.53075503e+01] [-1.14095268e-02 1.48000381e-04 9.99934898e-01 -4.56139067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56862385300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:219.76, Y:-45.32, Z:-4.56 [[ 9.61528329e-01 2.74485470e-01 1.09999872e-02 2.19757481e+02] [-2.74465973e-01 9.61591239e-01 -3.27408350e-03 -4.53171572e+01] [-1.14761796e-02 1.29001861e-04 9.99934138e-01 -4.56194972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.78, Y:-45.33, Z:-4.56 [[ 9.60395577e-01 2.78427640e-01 1.08804941e-02 2.19782667e+02] [-2.78408841e-01 9.60457205e-01 -3.23631655e-03 -4.53278264e+01] [-1.13513289e-02 7.89183427e-05 9.99935568e-01 -4.56251070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.81, Y:-45.34, Z:-4.56 [[ 9.59804644e-01 2.80469936e-01 1.05669635e-02 2.19809593e+02] [-2.80452353e-01 9.59862809e-01 -3.14094297e-03 -4.53368203e+01] [-1.10237754e-02 5.11618555e-05 9.99939235e-01 -4.56278765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:219.84, Y:-45.35, Z:-4.56 [[ 9.59225401e-01 2.82457694e-01 1.02118593e-02 2.19835138e+02] [-2.82441415e-01 9.59279756e-01 -3.03258397e-03 -4.53452875e+01] [-1.06526066e-02 2.46795841e-05 9.99943259e-01 -4.56320970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.86, Y:-45.35, Z:-4.56 [[ 9.58651028e-01 2.84401524e-01 1.01970845e-02 2.19861757e+02] [-2.84385401e-01 9.58705259e-01 -3.02831683e-03 -4.53536883e+01] [-1.06372565e-02 3.19706862e-06 9.99943423e-01 -4.56386652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.89, Y:-45.36, Z:-4.56 [[ 9.57320981e-01 2.88854580e-01 9.97858099e-03 2.19887545e+02] [-2.88839412e-01 9.57372984e-01 -2.96047387e-03 -4.53625671e+01] [-1.04083703e-02 -4.80837150e-05 9.99945830e-01 -4.56377821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.91, Y:-45.37, Z:-4.56 [[ 9.56771809e-01 2.90649563e-01 1.05136273e-02 2.19913761e+02] [-2.90632835e-01 9.56829570e-01 -3.11909148e-03 -4.53708767e+01] [-1.09663121e-02 -7.13465192e-05 9.99939866e-01 -4.56407093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.94, Y:-45.38, Z:-4.56 [[ 9.56209514e-01 2.92483802e-01 1.07977085e-02 2.19939362e+02] [-2.92466311e-01 9.56270472e-01 -3.20019955e-03 -4.53788112e+01] [-1.12615364e-02 -9.79047293e-05 9.99936582e-01 -4.56394376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:219.97, Y:-45.39, Z:-4.56 [[ 9.55267416e-01 2.95504518e-01 1.18845996e-02 2.19966410e+02] [-2.95483568e-01 9.55341331e-01 -3.52184607e-03 -4.53865962e+01] [-1.23945706e-02 -1.47399097e-04 9.99923173e-01 -4.56458721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.99, Y:-45.39, Z:-4.57 [[ 9.54988406e-01 2.96384708e-01 1.23793762e-02 2.19992822e+02] [-2.96362093e-01 9.55068624e-01 -3.66517006e-03 -4.53940421e+01] [-1.29094542e-02 -1.68582936e-04 9.99916655e-01 -4.56500295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.02, Y:-45.40, Z:-4.57 [[ 9.54867913e-01 2.96747099e-01 1.29780055e-02 2.20019630e+02] [-2.96722285e-01 9.54956086e-01 -3.84183845e-03 -4.54018660e+01] [-1.35334798e-02 -1.82415193e-04 9.99908402e-01 -4.56553126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.05, Y:-45.41, Z:-4.57 [[ 9.55002964e-01 2.96325559e-01 1.26689202e-02 2.20046875e+02] [-2.96301908e-01 9.55086976e-01 -3.74789104e-03 -4.54093662e+01] [-1.32105166e-02 -1.74578169e-04 9.99912722e-01 -4.56671365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.928623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.07, Y:-45.42, Z:-4.57 [[ 9.55218349e-01 2.95664744e-01 1.18433339e-02 2.20072431e+02] [-2.95644060e-01 9.55291753e-01 -3.50077402e-03 -4.54168823e+01] [-1.23488947e-02 -1.57407749e-04 9.99923737e-01 -4.56739015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.10, Y:-45.42, Z:-4.57 [[ 9.55880245e-01 2.93561641e-01 1.07013774e-02 2.20098506e+02] [-2.93544630e-01 9.55940139e-01 -3.16243923e-03 -4.54248422e+01] [-1.11582471e-02 -1.18418696e-04 9.99937738e-01 -4.56882368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.13, Y:-45.43, Z:-4.57 [[ 9.56378552e-01 2.91943529e-01 1.04423078e-02 2.20125534e+02] [-2.91927235e-01 9.56435553e-01 -3.08591626e-03 -4.54327523e+01] [-1.08883077e-02 -9.70899189e-05 9.99940716e-01 -4.57010395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.018623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.15, Y:-45.44, Z:-4.57 [[ 9.56810488e-01 2.90535763e-01 1.01321115e-02 2.20151436e+02] [-2.90520374e-01 9.56864130e-01 -2.99142360e-03 -4.54403564e+01] [-1.05641696e-02 -8.13593405e-05 9.99944194e-01 -4.57070616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.048623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.18, Y:-45.45, Z:-4.57 [[ 9.57320528e-01 2.88854886e-01 1.00131100e-02 2.20177610e+02] [-2.88839773e-01 9.57372890e-01 -2.95544632e-03 -4.54478590e+01] [-1.04399751e-02 -6.28749783e-05 9.99945500e-01 -4.57164309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.20, Y:-45.46, Z:-4.57 [[ 9.58440808e-01 2.85114557e-01 1.00452683e-02 2.20203612e+02] [-2.85099150e-01 9.58493447e-01 -2.96407465e-03 -4.54565598e+01] [-1.04734247e-02 -2.30073551e-05 9.99945152e-01 -4.57243747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.108623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:220.23, Y:-45.46, Z:-4.57 [[ 9.59053061e-01 2.83054524e-01 9.86727598e-03 2.20230674e+02] [-2.83039548e-01 9.59103819e-01 -2.91168036e-03 -4.54639793e+01] [-1.02879064e-02 -3.73376050e-07 9.99947078e-01 -4.56534431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.26, Y:-45.47, Z:-4.57 [[ 9.59780587e-01 2.80529430e-01 1.11563509e-02 2.20256449e+02] [-2.80510145e-01 9.59845424e-01 -3.28945247e-03 -4.54732903e+01] [-1.16311605e-02 2.76830270e-05 9.99932355e-01 -4.57309377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.168623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.28, Y:-45.48, Z:-4.57 [[ 9.60404499e-01 2.78362313e-01 1.17311784e-02 2.20283450e+02] [-2.78340857e-01 9.60476142e-01 -3.45652452e-03 -4.54821198e+01] [-1.22296831e-02 5.43954543e-05 9.99925213e-01 -4.57334717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.31, Y:-45.49, Z:-4.57 [[ 9.61700292e-01 2.73830555e-01 1.22219155e-02 2.20310056e+02] [-2.73806931e-01 9.61777944e-01 -3.59868464e-03 -4.54917272e+01] [-1.27401985e-02 1.14410905e-04 9.99918834e-01 -4.57368866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.34, Y:-45.50, Z:-4.57 [[ 9.62315798e-01 2.71663580e-01 1.21327885e-02 2.20336473e+02] [-2.71640157e-01 9.62392269e-01 -3.57007314e-03 -4.55003288e+01] [-1.26463607e-02 1.39785205e-04 9.99920022e-01 -4.57398484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.36, Y:-45.51, Z:-4.57 [[ 9.63378105e-01 2.67865204e-01 1.22824452e-02 2.20362683e+02] [-2.67840924e-01 9.63456380e-01 -3.61151395e-03 -4.55105292e+01] [-1.28009991e-02 1.89512008e-04 9.99918046e-01 -4.57485348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28862385300002 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:220.39, Y:-45.52, Z:-4.57 [[ 9.63779555e-01 2.66449274e-01 1.15651812e-02 2.20389726e+02] [-2.66427671e-01 9.63848923e-01 -3.39844341e-03 -4.55185990e+01] [-1.20526002e-02 1.94065983e-04 9.99927346e-01 -4.56527713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:-45.53, Z:-4.58 [[ 9.64116372e-01 2.65206782e-01 1.20409368e-02 2.20414176e+02] [-2.65183312e-01 9.64191535e-01 -3.53470440e-03 -4.55295238e+01] [-1.25471969e-02 2.14810888e-04 9.99921258e-01 -4.57634972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.44, Y:-45.54, Z:-4.58 [[ 9.64568028e-01 2.63582818e-01 1.15159662e-02 2.20439249e+02] [-2.63561248e-01 9.64636744e-01 -3.37950708e-03 -4.55405753e+01] [-1.19995042e-02 2.24602050e-04 9.99927978e-01 -4.57674487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.47, Y:-45.55, Z:-4.58 [[ 9.64673129e-01 2.63194844e-01 1.15856519e-02 2.20465609e+02] [-2.63172985e-01 9.64742671e-01 -3.39987806e-03 -4.55497510e+01] [-1.20720031e-02 2.30740407e-04 9.99927104e-01 -4.57687954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.49, Y:-45.56, Z:-4.58 [[ 9.64719884e-01 2.63023388e-01 1.15863194e-02 2.20492985e+02] [-2.63001544e-01 9.64789430e-01 -3.39760120e-03 -4.55575943e+01] [-1.20720071e-02 2.30513533e-04 9.99927104e-01 -4.57742911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:-45.57, Z:-4.58 [[ 9.64693888e-01 2.63110496e-01 1.17715679e-02 2.20519420e+02] [-2.63087992e-01 9.64765678e-01 -3.44882921e-03 -4.55679470e+01] [-1.22642279e-02 2.30106295e-04 9.99924765e-01 -4.57766574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.55, Y:-45.58, Z:-4.58 [[ 9.64665921e-01 2.63206575e-01 1.19146559e-02 2.20545318e+02] [-2.63183534e-01 9.64739470e-01 -3.49021858e-03 -4.55770257e+01] [-1.24131873e-02 2.31153666e-04 9.99922927e-01 -4.57844451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.57, Y:-45.59, Z:-4.58 [[ 9.64565468e-01 2.63570719e-01 1.19972647e-02 2.20571159e+02] [-2.63547413e-01 9.64640050e-01 -3.51227234e-03 -4.55864456e+01] [-1.24987742e-02 2.25968539e-04 9.99921862e-01 -4.57876643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.60, Y:-45.60, Z:-4.58 [[ 9.64397117e-01 2.64189910e-01 1.19118319e-02 2.20597317e+02] [-2.64166985e-01 9.64470655e-01 -3.48698262e-03 -4.55953700e+01] [-1.24098380e-02 2.16123259e-04 9.99922972e-01 -4.57911473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.62, Y:-45.61, Z:-4.58 [[ 9.63820323e-01 2.66279559e-01 1.20657411e-02 2.20623670e+02] [-2.66256231e-01 9.63895824e-01 -3.52974170e-03 -4.56055254e+01] [-1.25700156e-02 1.89458024e-04 9.99920976e-01 -4.57972808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58862385300003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:220.65, Y:-45.61, Z:-4.58 [[ 9.63472976e-01 2.67545288e-01 1.18043662e-02 2.20649091e+02] [-2.67523093e-01 9.63545272e-01 -3.45015443e-03 -4.56140109e+01] [-1.22971138e-02 1.66190008e-04 9.99924374e-01 -4.57995260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.67, Y:-45.62, Z:-4.58 [[ 9.63112939e-01 2.68837818e-01 1.18192079e-02 2.20674820e+02] [-2.68815678e-01 9.63185447e-01 -3.45338221e-03 -4.56226451e+01] [-1.23124888e-02 1.48808695e-04 9.99924187e-01 -4.58115641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.648623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.70, Y:-45.63, Z:-4.58 [[ 9.62410835e-01 2.71372139e-01 1.10700781e-02 2.20700815e+02] [-2.71352885e-01 9.62474493e-01 -3.23447283e-03 -4.56325321e+01] [-1.15324136e-02 1.08994071e-04 9.99933494e-01 -4.58141935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.73, Y:-45.64, Z:-4.58 [[ 9.62110227e-01 2.72452231e-01 1.06626838e-02 2.20727847e+02] [-2.72434454e-01 9.62169306e-01 -3.11366127e-03 -4.56415168e+01] [-1.11076310e-02 9.08029293e-05 9.99938304e-01 -4.58211171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.708623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:220.75, Y:-45.65, Z:-4.58 [[ 9.61531087e-01 2.74452144e-01 1.15753703e-02 2.20753517e+02] [-2.74431380e-01 9.61600757e-01 -3.37668975e-03 -4.56511914e+01] [-1.20576245e-02 7.01473314e-05 9.99927302e-01 -4.58238683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.738623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:220.78, Y:-45.66, Z:-4.58 [[ 9.61277784e-01 2.75320453e-01 1.19862125e-02 2.20780610e+02] [-2.75298261e-01 9.61352508e-01 -3.49617342e-03 -4.56594843e+01] [-1.24855435e-02 6.10103781e-05 9.99922051e-01 -4.57707060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.81, Y:-45.67, Z:-4.58 [[ 9.61179885e-01 2.75637072e-01 1.25472724e-02 2.20807246e+02] [-2.75612816e-01 9.61261776e-01 -3.65707058e-03 -4.56692569e+01] [-1.30692376e-02 5.69135938e-05 9.99914592e-01 -4.58330154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.83, Y:-45.68, Z:-4.58 [[ 9.61016951e-01 2.76197433e-01 1.27042474e-02 2.20832891e+02] [-2.76172659e-01 9.61100919e-01 -3.69948444e-03 -4.56778427e+01] [-1.32318520e-02 4.67014658e-05 9.99912454e-01 -4.58351990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:220.86, Y:-45.69, Z:-4.58 [[ 9.60732200e-01 2.77180971e-01 1.28198859e-02 2.20859602e+02] [-2.77155839e-01 9.60817729e-01 -3.73265807e-03 -4.56878629e+01] [-1.33521954e-02 3.29785758e-05 9.99910855e-01 -4.58451898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.858623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.89, Y:-45.70, Z:-4.59 [[ 9.60627942e-01 2.77559835e-01 1.24295801e-02 2.20885027e+02] [-2.77536278e-01 9.60708352e-01 -3.61619080e-03 -4.56966108e+01] [-1.29449107e-02 2.41545421e-05 9.99916211e-01 -4.58533855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.91, Y:-45.71, Z:-4.59 [[ 9.60517326e-01 2.77963588e-01 1.19461003e-02 2.20911092e+02] [-2.77941874e-01 9.60591611e-01 -3.47439549e-03 -4.57055995e+01] [-1.24410792e-02 1.68955577e-05 9.99922607e-01 -4.58590905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.918623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.94, Y:-45.71, Z:-4.59 [[ 9.60393573e-01 2.78408381e-01 1.15307734e-02 2.20936346e+02] [-2.78388219e-01 9.60462791e-01 -3.35057424e-03 -4.57139688e+01] [-1.20077068e-02 7.83848608e-06 9.99927905e-01 -4.58603145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:-45.72, Z:-4.59 [[ 9.60038170e-01 2.79639694e-01 1.13293247e-02 2.20962924e+02] [-2.79620317e-01 9.60105016e-01 -3.29189059e-03 -4.57231178e+01] [-1.17978847e-02 -7.56873832e-06 9.99930403e-01 -4.58662554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:220.99, Y:-45.73, Z:-4.59 [[ 9.59868009e-01 2.80224698e-01 1.12926427e-02 2.20989428e+02] [-2.80205514e-01 9.59934434e-01 -3.27894356e-03 -4.57315554e+01] [-1.17590375e-02 -1.69077275e-05 9.99930860e-01 -4.58699147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00862385300002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:221.02, Y:-45.74, Z:-4.59 [[ 9.59364116e-01 2.81925133e-01 1.17776508e-02 2.21015888e+02] [-2.81904425e-01 9.59436406e-01 -3.41726201e-03 -4.57412142e+01] [-1.22633190e-02 -4.17733226e-05 9.99924802e-01 -4.58703193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:221.04, Y:-45.75, Z:-4.59 [[ 9.59125653e-01 2.82727880e-01 1.19552297e-02 2.21042098e+02] [-2.82706646e-01 9.59200158e-01 -3.46545570e-03 -4.57491018e+01] [-1.24472391e-02 -5.60154250e-05 9.99922529e-01 -4.58763873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:221.07, Y:-45.76, Z:-4.59 [[ 9.58835121e-01 2.83698386e-01 1.22652227e-02 2.21067752e+02] [-2.83676131e-01 9.58913563e-01 -3.55413952e-03 -4.57570424e+01] [-1.27695920e-02 -7.15171286e-05 9.99918463e-01 -4.58804599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:221.09, Y:-45.76, Z:-4.59 [[ 9.58451843e-01 2.84960656e-01 1.29417862e-02 2.21094509e+02] [-2.84936001e-01 9.58539209e-01 -3.74960946e-03 -4.57644508e+01] [-1.34737007e-02 -9.37607100e-05 9.99909221e-01 -4.58840095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:221.12, Y:-45.77, Z:-4.59 [[ 9.58405220e-01 2.85098294e-01 1.33565496e-02 2.21121589e+02] [-2.85072086e-01 9.58498280e-01 -3.86694975e-03 -4.57718731e+01] [-1.39046906e-02 -1.01474619e-04 9.99903320e-01 -4.58904455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15862385300002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:221.15, Y:-45.78, Z:-4.59 [[ 9.58404333e-01 2.85086809e-01 1.36618636e-02 2.21148866e+02] [-2.85059429e-01 9.58501695e-01 -3.95248569e-03 -4.57797787e+01] [-1.42217209e-02 -1.06363612e-04 9.99898861e-01 -4.58864368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18862385300002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:221.18, Y:-45.79, Z:-4.59 [[ 9.58572174e-01 2.84512821e-01 1.38507199e-02 2.21175002e+02] [-2.84484660e-01 9.58672230e-01 -4.00426636e-03 -4.57885831e+01] [-1.44175656e-02 -1.01939028e-04 9.99896056e-01 -4.58935218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:221.20, Y:-45.80, Z:-4.59 [[ 9.58642213e-01 2.84257890e-01 1.42323150e-02 2.21200951e+02] [-2.84228179e-01 9.58747851e-01 -4.11106794e-03 -4.57962551e+01] [-1.48138049e-02 -1.04181706e-04 9.99890264e-01 -4.59028512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24862385300003 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:221.23, Y:-45.80, Z:-4.59 [[ 9.58711263e-01 2.84023437e-01 1.42618920e-02 2.21228310e+02] [-2.83993589e-01 9.58817332e-01 -4.11881275e-03 -4.58039906e+01] [-1.48443886e-02 -1.01533713e-04 9.99889811e-01 -4.59053537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27862385300003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:221.25, Y:-45.81, Z:-4.59 [[ 9.58794231e-01 2.83736485e-01 1.43954601e-02 2.21254329e+02] [-2.83706094e-01 9.58902287e-01 -4.15400630e-03 -4.58112997e+01] [-1.49824828e-02 -1.01242478e-04 9.99887751e-01 -4.59101471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30862385300003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:221.28, Y:-45.82, Z:-4.59 [[ 9.58828253e-01 2.83633475e-01 1.41574077e-02 2.21281398e+02] [-2.83604079e-01 9.58932762e-01 -4.08460583e-03 -4.58191635e+01] [-1.47345330e-02 -9.86631078e-05 9.99891436e-01 -4.59175770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33862385300003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:221.31, Y:-45.83, Z:-4.59 [[ 9.58876321e-01 2.83493906e-01 1.36896704e-02 2.21307915e+02] [-2.83466444e-01 9.58974033e-01 -3.94702851e-03 -4.58265519e+01] [-1.42469970e-02 -9.58500194e-05 9.99898502e-01 -4.59249812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:221.33, Y:-45.83, Z:-4.59 [[ 9.58808726e-01 2.83734561e-01 1.34359722e-02 2.21333575e+02] [-2.83708176e-01 9.58902857e-01 -3.87067265e-03 -4.58339013e+01] [-1.39820357e-02 -1.00660454e-04 9.99902241e-01 -4.59306855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.398623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:221.36, Y:-45.84, Z:-4.59 [[ 9.58716190e-01 2.84045219e-01 1.34751544e-02 2.21360595e+02] [-2.84018719e-01 9.58810879e-01 -3.88135583e-03 -4.58400736e+01] [-1.40226052e-02 -1.06077426e-04 9.99901673e-01 -4.59382392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.428623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:221.39, Y:-45.85, Z:-4.59 [[ 9.58648852e-01 2.84268549e-01 1.35562180e-02 2.21388170e+02] [-2.84241790e-01 9.58744689e-01 -3.90198628e-03 -4.58468234e+01] [-1.41061640e-02 -1.12608997e-04 9.99900497e-01 -4.59382901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.458623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:221.42, Y:-45.85, Z:-4.59 [[ 9.58539972e-01 2.84642492e-01 1.34079923e-02 2.21416228e+02] [-2.84616389e-01 9.58633735e-01 -3.85664299e-03 -4.58525542e+01] [-1.39511182e-02 -1.19387887e-04 9.99902671e-01 -4.58837771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.488623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:221.44, Y:-45.86, Z:-4.60 [[ 9.58476380e-01 2.84834310e-01 1.38724477e-02 2.21443562e+02] [-2.84806430e-01 9.58576757e-01 -3.98723884e-03 -4.58595335e+01] [-1.44335084e-02 -1.29288075e-04 9.99895823e-01 -4.59521047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.518623853 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:221.47, Y:-45.87, Z:-4.59 [[ 9.58457790e-01 2.84918787e-01 1.34145568e-02 2.21469889e+02] [-2.84892768e-01 9.58551651e-01 -3.85261178e-03 -4.58654894e+01] [-1.39562270e-02 -1.29144432e-04 9.99902599e-01 -4.58811462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.548623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:221.50, Y:-45.87, Z:-4.60 [[ 9.58533908e-01 2.84639455e-01 1.38970504e-02 2.21497001e+02] [-2.84611527e-01 9.58634635e-01 -3.98940061e-03 -4.58734112e+01] [-1.44577346e-02 -1.31284966e-04 9.99895473e-01 -4.59631647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.578623853 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:221.52, Y:-45.88, Z:-4.60 [[ 9.58527276e-01 2.84664610e-01 1.38390899e-02 2.21523614e+02] [-2.84636966e-01 9.58627165e-01 -3.96936599e-03 -4.58796360e+01] [-1.43964656e-02 -1.34370998e-04 9.99896356e-01 -4.59659017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.608623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:221.55, Y:-45.88, Z:-4.60 [[ 9.58334620e-01 2.85337430e-01 1.33156724e-02 2.21551712e+02] [-2.85311909e-01 9.58427113e-01 -3.81873090e-03 -4.58840534e+01] [-1.38517283e-02 -1.39497894e-04 9.99904050e-01 -4.59770668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.638623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:221.58, Y:-45.89, Z:-4.60 [[ 9.58146333e-01 2.85962378e-01 1.34581658e-02 2.21578621e+02] [-2.85936419e-01 9.58240833e-01 -3.85614919e-03 -4.58898364e+01] [-1.39988776e-02 -1.53424508e-04 9.99901999e-01 -4.59838785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.668623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:221.61, Y:-45.89, Z:-4.60 [[ 9.57593223e-01 2.87800405e-01 1.36435520e-02 2.21606678e+02] [-2.87773921e-01 9.57690395e-01 -3.90860308e-03 -4.58937894e+01] [-1.41911963e-02 -1.83406646e-04 9.99899283e-01 -4.59847726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69862385300002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:221.63, Y:-45.90, Z:-4.60 [[ 9.57334480e-01 2.88658952e-01 1.36639329e-02 2.21633520e+02] [-2.88632526e-01 9.57431966e-01 -3.91096482e-03 -4.58990740e+01] [-1.42112211e-02 -1.99753987e-04 9.99898996e-01 -4.59915622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:221.66, Y:-45.90, Z:-4.60 [[ 9.57089018e-01 2.89475093e-01 1.35934360e-02 2.21660137e+02] [-2.89449039e-01 9.57185523e-01 -3.88953018e-03 -4.59040938e+01] [-1.41373623e-02 -2.11980379e-04 9.99900040e-01 -4.59958471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75862385300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:221.69, Y:-45.91, Z:-4.60 [[ 9.56748566e-01 2.90589476e-01 1.37817773e-02 2.21688163e+02] [-2.90562820e-01 9.56847795e-01 -3.94272031e-03 -4.59065586e+01] [-1.43327762e-02 -2.32280060e-04 9.99897254e-01 -4.60029392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:221.72, Y:-45.91, Z:-4.60 [[ 9.56836238e-01 2.90314863e-01 1.34793706e-02 2.21715896e+02] [-2.90289374e-01 9.56931152e-01 -3.85356339e-03 -4.59111540e+01] [-1.40175764e-02 -2.25688965e-04 9.99901723e-01 -4.60139488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81862385300002 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:221.74, Y:-45.92, Z:-4.60 [[ 9.56968746e-01 2.89886363e-01 1.32934501e-02 2.21742766e+02] [-2.89861576e-01 9.57061047e-01 -3.79713946e-03 -4.59159457e+01] [-1.38233822e-02 -2.19516615e-04 9.99904428e-01 -4.60220618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84862385300002 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:221.77, Y:-45.92, Z:-4.60 [[ 9.57723375e-01 2.87394547e-01 1.30503175e-02 2.21769868e+02] [-2.87370443e-01 9.57812268e-01 -3.72656202e-03 -4.59186744e+01] [-1.35707478e-02 -1.81259969e-04 9.99907897e-01 -4.60404190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87862385300002 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:221.80, Y:-45.92, Z:-4.60 [[ 9.58334202e-01 2.85366915e-01 1.26996677e-02 2.21797337e+02] [-2.85343916e-01 9.58418333e-01 -3.62603426e-03 -4.59243410e+01] [-1.32063446e-02 -1.48820277e-04 9.99912781e-01 -4.60369408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90862385300002 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:221.83, Y:-45.93, Z:-4.60 [[ 9.59105448e-01 2.82759592e-01 1.27965991e-02 2.21825017e+02] [-2.82736043e-01 9.59190805e-01 -3.65107185e-03 -4.59297407e+01] [-1.33067558e-02 -1.16296891e-04 9.99911454e-01 -4.60458897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93862385300002 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:221.85, Y:-45.93, Z:-4.61 [[ 9.59874984e-01 2.80115092e-01 1.32495517e-02 2.21851349e+02] [-2.80089642e-01 9.59966420e-01 -3.77688043e-03 -4.59348888e+01] [-1.37770860e-02 -8.57291516e-05 9.99905088e-01 -4.60518203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96862385300003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:221.88, Y:-45.94, Z:-4.61 [[ 9.61487203e-01 2.74532610e-01 1.31986369e-02 2.21879838e+02] [-2.74506835e-01 9.61577790e-01 -3.76182658e-03 -4.59384788e+01] [-1.37242602e-02 -6.16793199e-06 9.99905818e-01 -4.60529324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:221.91, Y:-45.94, Z:-4.61 [[ 9.62280995e-01 2.71752828e-01 1.28719212e-02 2.21905883e+02] [-2.71728108e-01 9.62367081e-01 -3.66552258e-03 -4.59438462e+01] [-1.33836294e-02 2.95999150e-05 9.99910435e-01 -4.60632641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02862385300003 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:221.93, Y:-45.95, Z:-4.61 [[ 9.63806239e-01 2.66309347e-01 1.25245987e-02 2.21932696e+02] [-2.66285493e-01 9.63887608e-01 -3.56583617e-03 -4.59473081e+01] [-1.30219210e-02 1.01656215e-04 9.99915206e-01 -4.60713757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:221.96, Y:-45.95, Z:-4.61 [[ 9.64597031e-01 2.63429216e-01 1.25545480e-02 2.21958726e+02] [-2.63405029e-01 9.64678718e-01 -3.57236662e-03 -4.59534028e+01] [-1.30521710e-02 1.38963155e-04 9.99914807e-01 -4.60781009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08862385300003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:221.99, Y:-45.96, Z:-4.61 [[ 9.65456750e-01 2.60253303e-01 1.27075633e-02 2.21986275e+02] [-2.60228253e-01 9.65540359e-01 -3.61544732e-03 -4.59603207e+01] [-1.32105974e-02 1.83691006e-04 9.99912719e-01 -4.60865175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11862385300003 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:222.01, Y:-45.97, Z:-4.60 [[ 9.66973621e-01 2.54582303e-01 1.22420239e-02 2.22013498e+02] [-2.54558638e-01 9.67051079e-01 -3.48006194e-03 -4.59653178e+01] [-1.27246246e-02 2.48815157e-04 9.99919008e-01 -4.59953633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.148623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:222.04, Y:-45.97, Z:-4.61 [[ 9.67807340e-01 2.51358059e-01 1.29645015e-02 2.22039990e+02] [-2.51331237e-01 9.67894122e-01 -3.68485205e-03 -4.59729461e+01] [-1.34744821e-02 3.07842660e-04 9.99909168e-01 -4.60956192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.178623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:222.07, Y:-45.98, Z:-4.61 [[ 9.68461102e-01 2.48826702e-01 1.29755875e-02 2.22066764e+02] [-2.48799640e-01 9.68547963e-01 -3.68552070e-03 -4.59804767e+01] [-1.34845348e-02 3.40961943e-04 9.99909021e-01 -4.60996589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.208623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:222.09, Y:-45.99, Z:-4.61 [[ 9.69499938e-01 2.44741975e-01 1.30857496e-02 2.22092997e+02] [-2.44714118e-01 9.69588164e-01 -3.71395986e-03 -4.59886150e+01] [-1.35967498e-02 3.98416179e-04 9.99907481e-01 -4.61075339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.238623853 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:222.12, Y:-46.00, Z:-4.61 [[ 9.69868940e-01 2.43287286e-01 1.28660874e-02 2.22120203e+02] [-2.43260254e-01 9.69954189e-01 -3.64967974e-03 -4.59961485e+01] [-1.33674360e-02 4.09903330e-04 9.99910568e-01 -4.61092793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.268623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:222.15, Y:-46.00, Z:-4.61 [[ 9.70137134e-01 2.42225060e-01 1.26870858e-02 2.22145708e+02] [-2.42198692e-01 9.70219999e-01 -3.59832697e-03 -4.60036292e+01] [-1.31808694e-02 4.18075019e-04 9.99913041e-01 -4.61132507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.298623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:222.17, Y:-46.01, Z:-4.61 [[ 9.70294815e-01 2.41609575e-01 1.23606113e-02 2.22172838e+02] [-2.41584515e-01 9.70373455e-01 -3.50436858e-03 -4.60119572e+01] [-1.28410981e-02 4.14138375e-04 9.99917464e-01 -4.61207514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.328623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:222.20, Y:-46.02, Z:-4.61 [[ 9.70333625e-01 2.41453631e-01 1.23612320e-02 2.22200286e+02] [-2.41428586e-01 9.70412269e-01 -3.50217742e-03 -4.60195349e+01] [-1.28411047e-02 4.13925744e-04 9.99917464e-01 -4.61262472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.358623853 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:222.23, Y:-46.03, Z:-4.61 [[ 9.70140477e-01 2.42245895e-01 1.20158934e-02 2.22226244e+02] [-2.42222314e-01 9.70214808e-01 -3.40242430e-03 -4.60287688e+01] [-1.24822211e-02 3.90312024e-04 9.99922018e-01 -4.61300744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.388623853 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:222.25, Y:-46.04, Z:-4.61 [[ 9.69835776e-01 2.43462699e-01 1.20200927e-02 2.22252176e+02] [-2.43439231e-01 9.69910190e-01 -3.40072133e-03 -4.60364727e+01] [-1.24863592e-02 3.71979071e-04 9.99921973e-01 -4.61331635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.418623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:222.28, Y:-46.04, Z:-4.61 [[ 9.69441654e-01 2.45017219e-01 1.22246126e-02 2.22279201e+02] [-2.44993076e-01 9.69518661e-01 -3.45810768e-03 -4.60444407e+01] [-1.26992860e-02 3.57488185e-04 9.99919297e-01 -4.61390908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44862385300002 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:222.31, Y:-46.05, Z:-4.61 [[ 9.68580051e-01 2.48337782e-01 1.34547721e-02 2.22305849e+02] [-2.48308891e-01 9.68673438e-01 -3.80341151e-03 -4.60536455e+01] [-1.39778111e-02 3.42968972e-04 9.99902247e-01 -4.61418003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47862385300002 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:222.33, Y:-46.06, Z:-4.61 [[ 9.68092093e-01 2.50227710e-01 1.35570439e-02 2.22331638e+02] [-2.50198612e-01 9.68186962e-01 -3.82887524e-03 -4.60616291e+01] [-1.40838438e-02 3.14750288e-04 9.99900768e-01 -4.61415685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50862385300002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:222.36, Y:-46.07, Z:-4.61 [[ 9.67628118e-01 2.52019483e-01 1.34909097e-02 2.22358477e+02] [-2.51990852e-01 9.67722118e-01 -3.80954715e-03 -4.60693216e+01] [-1.40155318e-02 2.86639114e-04 9.99901737e-01 -4.61445354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53862385300002 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:222.38, Y:-46.08, Z:-4.60 [[ 9.66349441e-01 2.56939067e-01 1.22912279e-02 2.22384907e+02] [-2.56915735e-01 9.66427586e-01 -3.46792697e-03 -4.60766230e+01] [-1.27696276e-02 1.93419438e-04 9.99918446e-01 -4.60345385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56862385300002 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:222.41, Y:-46.09, Z:-4.62 [[ 9.65744087e-01 2.59173537e-01 1.29396780e-02 2.22410399e+02] [-2.59147895e-01 9.65830756e-01 -3.64966225e-03 -4.60850234e+01] [-1.34434349e-02 1.71349411e-04 9.99909618e-01 -4.61549330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59862385300002 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:222.44, Y:-46.09, Z:-4.62 [[ 9.65095601e-01 2.61586619e-01 1.27640885e-02 2.22436109e+02] [-2.61561894e-01 9.65179995e-01 -3.59902876e-03 -4.60926479e+01] [-1.32611006e-02 1.34807675e-04 9.99912059e-01 -4.61607921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62862385300002 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:222.46, Y:-46.10, Z:-4.62 [[ 9.64382334e-01 2.64206388e-01 1.27161100e-02 2.22463486e+02] [-2.64182081e-01 9.64466161e-01 -3.58511929e-03 -4.61003632e+01] [-1.32114692e-02 9.80573021e-05 9.99912720e-01 -4.61633585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65862385300002 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:222.49, Y:-46.11, Z:-4.62 [[ 9.62965356e-01 2.69313963e-01 1.29503656e-02 2.22489939e+02] [-2.69289249e-01 9.63052433e-01 -3.64851446e-03 -4.61079544e+01] [-1.34544770e-02 2.59987998e-05 9.99909484e-01 -4.61651355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68862385300002 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:222.52, Y:-46.12, Z:-4.62 [[ 9.62338098e-01 2.71527590e-01 1.33473707e-02 2.22515828e+02] [-2.71501598e-01 9.62430656e-01 -3.75690681e-03 -4.61152899e+01] [-1.38660226e-02 -8.41791152e-06 9.99903862e-01 -4.61679668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71862385300003 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:222.54, Y:-46.12, Z:-4.62 [[ 9.61848630e-01 2.73243576e-01 1.36074199e-02 2.22543032e+02] [-2.73216742e-01 9.61944877e-01 -3.82945828e-03 -4.61227195e+01] [-1.41359628e-02 -3.44157470e-05 9.99900082e-01 -4.61710566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74862385300003 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:222.57, Y:-46.13, Z:-4.62 [[ 9.61175882e-01 2.75590803e-01 1.38070198e-02 2.22569242e+02] [-2.75563469e-01 9.61275041e-01 -3.88210039e-03 -4.61288019e+01] [-1.43422147e-02 -7.33290164e-05 9.99897142e-01 -4.61719010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77862385300003 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:222.60, Y:-46.14, Z:-4.61 [[ 9.61046134e-01 2.76060007e-01 1.34610894e-02 2.22596834e+02] [-2.76034080e-01 9.61140399e-01 -3.78424633e-03 -4.61361991e+01] [-1.39826759e-02 -7.88841326e-05 9.99902234e-01 -4.61210779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80862385300003 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:222.62, Y:-46.15, Z:-4.62 [[ 9.61464986e-01 2.74585190e-01 1.37133091e-02 2.22623555e+02] [-2.74558174e-01 9.61562775e-01 -3.85221509e-03 -4.61459197e+01] [-1.42439688e-02 -6.13311848e-05 9.99898548e-01 -4.61824893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83862385300003 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:222.65, Y:-46.15, Z:-4.62 [[ 9.61774842e-01 2.73499785e-01 1.36755471e-02 2.22649921e+02] [-2.73472848e-01 9.61872063e-01 -3.83875710e-03 -4.61539205e+01] [-1.42040259e-02 -4.78708080e-05 9.99899117e-01 -4.61911329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86862385300003 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:222.68, Y:-46.16, Z:-4.62 [[ 9.62083138e-01 2.72434268e-01 1.32515826e-02 2.22675921e+02] [-2.72408915e-01 9.62174396e-01 -3.71677344e-03 -4.61616307e+01] [-1.37629099e-02 -3.40041819e-05 9.99905286e-01 -4.61917036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.898623853 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:222.70, Y:-46.17, Z:-4.62 [[ 9.62626712e-01 2.70523750e-01 1.29117793e-02 2.22702167e+02] [-2.70499537e-01 9.62713301e-01 -3.61940457e-03 -4.61694802e+01] [-1.34094766e-02 -8.49479886e-06 9.99910089e-01 -4.61932646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.928623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:222.73, Y:-46.18, Z:-4.62 [[ 9.62874292e-01 2.69640105e-01 1.29348778e-02 2.22729249e+02] [-2.69615732e-01 9.62961169e-01 -3.62535832e-03 -4.61772122e+01] [-1.34333270e-02 3.31779096e-06 9.99909769e-01 -4.62015826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.958623853 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:222.76, Y:-46.19, Z:-4.62 [[ 9.63090345e-01 2.68865878e-01 1.29663880e-02 2.22755806e+02] [-2.68841351e-01 9.63177626e-01 -3.63159073e-03 -4.61851576e+01] [-1.34653456e-02 1.16487035e-05 9.99909338e-01 -4.62089328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.988623853 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:222.78, Y:-46.19, Z:-4.62 [[ 9.63300823e-01 2.68118406e-01 1.28080171e-02 2.22781819e+02] [-2.68094448e-01 9.63385966e-01 -3.58428141e-03 -4.61932856e+01] [-1.33000757e-02 1.89829653e-05 9.99911550e-01 -4.62155036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.018623853 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:222.81, Y:-46.20, Z:-4.61 [[ 9.63622957e-01 2.67007252e-01 1.17441413e-02 2.22807996e+02] [-2.66987038e-01 9.63694519e-01 -3.28562599e-03 -4.62033649e+01] [-1.21950506e-02 3.05711206e-05 9.99925637e-01 -4.61227100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.048623853 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:222.83, Y:-46.21, Z:-4.62 [[ 9.63964602e-01 2.65755198e-01 1.21004422e-02 2.22833370e+02] [-2.65733683e-01 9.64040545e-01 -3.38185184e-03 -4.62119470e+01] [-1.25640616e-02 4.44904019e-05 9.99921068e-01 -4.62281567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.078623853 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:222.86, Y:-46.22, Z:-4.62 [[ 9.64161117e-01 2.65033568e-01 1.22697954e-02 2.22859900e+02] [-2.65011394e-01 9.64239185e-01 -3.42873404e-03 -4.62191129e+01] [-1.27397472e-02 5.42164568e-05 9.99918845e-01 -4.62325181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.108623853 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:222.89, Y:-46.23, Z:-4.62 [[ 9.64294723e-01 2.64554218e-01 1.21141608e-02 2.22886418e+02] [-2.64532605e-01 9.64370812e-01 -3.38206538e-03 -4.62260829e+01] [-1.25772827e-02 5.67172801e-05 9.99920901e-01 -4.62378588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.138623853 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:222.91, Y:-46.23, Z:-4.62 [[ 9.64630107e-01 2.63340673e-01 1.18510319e-02 2.22913522e+02] [-2.63319901e-01 9.64702900e-01 -3.30833991e-03 -4.62343014e+01] [-1.23039453e-02 7.07117316e-05 9.99924301e-01 -4.62459333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.168623853 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:222.94, Y:-46.24, Z:-4.63 [[ 9.64777932e-01 2.62802329e-01 1.17676683e-02 2.22939048e+02] [-2.62781846e-01 9.64849693e-01 -3.28196726e-03 -4.62435783e+01] [-1.22165398e-02 7.40399840e-05 9.99925373e-01 -4.62579465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19862385300002 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:222.96, Y:-46.25, Z:-4.63 [[ 9.65185641e-01 2.61306341e-01 1.16479716e-02 2.22964637e+02] [-2.61286165e-01 9.65255918e-01 -3.24838004e-03 -4.62543561e+01] [-1.20920958e-02 9.18359341e-05 9.99926884e-01 -4.62591435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22862385300002 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:222.99, Y:-46.26, Z:-4.63 [[ 9.65378095e-01 2.60599117e-01 1.15426793e-02 2.22990550e+02] [-2.60579287e-01 9.65447094e-01 -3.21626142e-03 -4.62624298e+01] [-1.19820010e-02 9.71251908e-05 9.99928209e-01 -4.62627323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25862385300002 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:223.02, Y:-46.27, Z:-4.63 [[ 9.65553488e-01 2.59960203e-01 1.12763031e-02 2.23016963e+02] [-2.59941247e-01 9.65619326e-01 -3.14100581e-03 -4.62716364e+01] [-1.17051527e-02 1.01632818e-04 9.99931487e-01 -4.62605319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28862385300002 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:223.04, Y:-46.28, Z:-4.63 [[ 9.65566601e-01 2.59911983e-01 1.12649929e-02 2.23044072e+02] [-2.59893098e-01 9.65632307e-01 -3.13470159e-03 -4.62804495e+01] [-1.16925876e-02 9.90692573e-05 9.99931634e-01 -4.62677182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31862385300002 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:223.07, Y:-46.29, Z:-4.63 [[ 9.65539068e-01 2.60018281e-01 1.11714889e-02 2.23070156e+02] [-2.59999724e-01 9.65603689e-01 -3.10792817e-03 -4.62889603e+01] [-1.15953490e-02 9.62420395e-05 9.99932767e-01 -4.62704953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34862385300002 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:223.10, Y:-46.30, Z:-4.63 [[ 9.65448892e-01 2.60328058e-01 1.17362617e-02 2.23096835e+02] [-2.60307614e-01 9.65520219e-01 -3.26383424e-03 -4.62978610e+01] [-1.21812656e-02 9.60268713e-05 9.99925801e-01 -4.62770545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37862385300002 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:223.12, Y:-46.31, Z:-4.63 [[ 9.65258480e-01 2.61011350e-01 1.22123882e-02 2.23121849e+02] [-2.60989277e-01 9.65335728e-01 -3.39565773e-03 -4.63079234e+01] [-1.26753598e-02 9.03850532e-05 9.99919660e-01 -4.62766881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40862385300002 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:223.15, Y:-46.32, Z:-4.63 [[ 9.65212977e-01 2.61189313e-01 1.20021637e-02 2.23148124e+02] [-2.61168033e-01 9.65287592e-01 -3.33516415e-03 -4.63165023e+01] [-1.24566489e-02 8.45622377e-05 9.99922409e-01 -4.62812499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43862385300002 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:223.17, Y:-46.33, Z:-4.63 [[ 9.65069015e-01 2.61742560e-01 1.15164075e-02 2.23173344e+02] [-2.61723015e-01 9.65137724e-01 -3.19945922e-03 -4.63269790e+01] [-1.19523539e-02 7.35900749e-05 9.99928565e-01 -4.62905120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46862385300003 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:223.20, Y:-46.34, Z:-4.63 [[ 9.64964150e-01 2.62125118e-01 1.16022250e-02 2.23198744e+02] [-2.62105321e-01 9.65033895e-01 -3.22227984e-03 -4.63358681e+01] [-1.20411808e-02 6.83796382e-05 9.99927500e-01 -4.62969966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49862385300003 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:223.23, Y:-46.34, Z:-4.63 [[ 9.64847900e-01 2.62555672e-01 1.15346589e-02 2.23225268e+02] [-2.62536137e-01 9.64916844e-01 -3.20331270e-03 -4.63447988e+01] [-1.19710346e-02 6.24447367e-05 9.99928343e-01 -4.62970514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52862385300003 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:223.25, Y:-46.36, Z:-4.63 [[ 9.64423743e-01 2.64100189e-01 1.17445362e-02 2.23250226e+02] [-2.64080086e-01 9.64495251e-01 -3.25877975e-03 -4.63551678e+01] [-1.21881937e-02 4.13464332e-05 9.99925720e-01 -4.62937279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55862385300003 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:223.28, Y:-46.36, Z:-4.63 [[ 9.64245902e-01 2.64726056e-01 1.22456654e-02 2.23277338e+02] [-2.64704269e-01 9.64323656e-01 -3.39646720e-03 -4.63634215e+01] [-1.27079182e-02 3.35496612e-05 9.99919251e-01 -4.63039729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58862385300003 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:223.30, Y:-46.37, Z:-4.63 [[ 9.63612910e-01 2.67036849e-01 1.18945633e-02 2.23303235e+02] [-2.67016506e-01 9.63686319e-01 -3.29611116e-03 -4.63729345e+01] [-1.23428111e-02 1.30522079e-07 9.99923825e-01 -4.63034615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61862385300003 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:223.33, Y:-46.38, Z:-4.63 [[ 9.63294070e-01 2.68191711e-01 1.17363340e-02 2.23329835e+02] [-2.68171994e-01 9.63365562e-01 -3.25202860e-03 -4.63816258e+01] [-1.21785471e-02 -1.46962213e-05 9.99925839e-01 -4.63069482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.648623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:223.36, Y:-46.39, Z:-4.63 [[ 9.62881314e-01 2.69664831e-01 1.18512863e-02 2.23356966e+02] [-2.69644867e-01 9.62954245e-01 -3.28154964e-03 -4.63898600e+01] [-1.22971650e-02 -3.58956804e-05 9.99924386e-01 -4.63157847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.678623853 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:223.38, Y:-46.40, Z:-4.63 [[ 9.62465827e-01 2.71158757e-01 1.15091299e-02 2.23382513e+02] [-2.71140065e-01 9.62534636e-01 -3.18425140e-03 -4.63972222e+01] [-1.19413738e-02 -5.58530793e-05 9.99928698e-01 -4.63217543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.708623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:223.41, Y:-46.41, Z:-4.63 [[ 9.61654693e-01 2.74031796e-01 1.12617279e-02 2.23408300e+02] [-2.74014117e-01 9.61720628e-01 -3.11402038e-03 -4.64054515e+01] [-1.16839766e-02 -9.12601158e-05 9.99931736e-01 -4.63272622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.738623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:223.44, Y:-46.41, Z:-4.63 [[ 9.61385602e-01 2.74957333e-01 1.16700372e-02 2.23435210e+02] [-2.74938421e-01 9.61456423e-01 -3.22665526e-03 -4.64133138e+01] [-1.21074248e-02 -1.06481696e-04 9.99926697e-01 -4.63410935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.768623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:223.46, Y:-46.42, Z:-4.63 [[ 9.61167942e-01 2.75719800e-01 1.16094641e-02 2.23461377e+02] [-2.75701175e-01 9.61238044e-01 -3.20691611e-03 -4.64208778e+01] [-1.20436688e-02 -1.18357924e-04 9.99927465e-01 -4.63430878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.798623853 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:223.49, Y:-46.43, Z:-4.63 [[ 9.60937684e-01 2.76552185e-01 1.08469516e-02 2.23488888e+02] [-2.76535979e-01 9.60998894e-01 -2.99628626e-03 -4.64286369e+01] [-1.12525380e-02 -1.20327984e-04 9.99936681e-01 -4.62890775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.828623853 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:223.51, Y:-46.44, Z:-4.64 [[ 9.60591908e-01 2.77750336e-01 1.08598588e-02 2.23514086e+02] [-2.77734200e-01 9.60653284e-01 -2.99697973e-03 -4.64366120e+01] [-1.12649711e-02 -1.37279710e-04 9.99936539e-01 -4.63567947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.858623853 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:223.54, Y:-46.44, Z:-4.64 [[ 9.60477618e-01 2.78158061e-01 1.05279840e-02 2.23540044e+02] [-2.78142930e-01 9.60535306e-01 -2.90457239e-03 -4.64440864e+01] [-1.09204305e-02 -1.38507535e-04 9.99940361e-01 -4.63635788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.888623853 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:223.57, Y:-46.45, Z:-4.63 [[ 9.60069485e-01 2.79565888e-01 1.04641004e-02 2.23566851e+02] [-2.79551022e-01 9.60126497e-01 -2.88707231e-03 -4.64512631e+01] [-1.08539870e-02 -1.53459948e-04 9.99941082e-01 -4.63156800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.918623853 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:223.59, Y:-46.46, Z:-4.64 [[ 9.60008671e-01 2.79759388e-01 1.08644249e-02 2.23593300e+02] [-2.79743412e-01 9.60070132e-01 -2.99431906e-03 -4.64581184e+01] [-1.12682987e-02 -1.64679021e-04 9.99936497e-01 -4.63656245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94862385300002 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:223.62, Y:-46.46, Z:-4.64 [[ 9.59888443e-01 2.80156425e-01 1.12496812e-02 2.23619780e+02] [-2.80139335e-01 9.59954346e-01 -3.09942233e-03 -4.64649575e+01] [-1.16675034e-02 -1.76378536e-04 9.99931917e-01 -4.63738468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97862385300002 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:223.65, Y:-46.47, Z:-4.64 [[ 9.59798781e-01 2.80460826e-01 1.13148203e-02 2.23646353e+02] [-2.80443561e-01 9.59865455e-01 -3.11718859e-03 -4.64725158e+01] [-1.17349545e-02 -1.81294703e-04 9.99931127e-01 -4.63776483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00862385300002 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:223.67, Y:-46.48, Z:-4.64 [[ 9.59853889e-01 2.80264399e-01 1.15055956e-02 2.23673632e+02] [-2.80246558e-01 9.59922826e-01 -3.16762712e-03 -4.64800535e+01] [-1.19322569e-02 -1.83944343e-04 9.99928791e-01 -4.63863607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03862385300002 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:223.70, Y:-46.49, Z:-4.64 [[ 9.59923895e-01 2.80012366e-01 1.17979136e-02 2.23700381e+02] [-2.79993626e-01 9.59996375e-01 -3.24496256e-03 -4.64867433e+01] [-1.22345839e-02 -1.88423491e-04 9.99925137e-01 -4.63923110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06862385300002 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:223.73, Y:-46.49, Z:-4.64 [[ 9.60087847e-01 2.79449553e-01 1.18013824e-02 2.23727284e+02] [-2.79430770e-01 9.60160359e-01 -3.24509217e-03 -4.64920702e+01] [-1.22380591e-02 -1.82095805e-04 9.99925096e-01 -4.63924103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09862385300002 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:223.75, Y:-46.50, Z:-4.64 [[ 9.60253178e-01 2.78885962e-01 1.16813762e-02 2.23753773e+02] [-2.78867530e-01 9.60324211e-01 -3.21106020e-03 -4.64989957e+01] [-1.21134280e-02 -1.74125767e-04 9.99926615e-01 -4.63989854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12862385300002 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:223.78, Y:-46.51, Z:-4.64 [[ 9.60395032e-01 2.78405240e-01 1.14850172e-02 2.23779700e+02] [-2.78387400e-01 9.60463687e-01 -3.15608770e-03 -4.65064353e+01] [-1.19096133e-02 -1.66193141e-04 9.99929064e-01 -4.64100474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15862385300002 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:223.81, Y:-46.51, Z:-4.64 [[ 9.60559002e-01 2.77858950e-01 1.09912908e-02 2.23805799e+02] [-2.77842585e-01 9.60621872e-01 -3.01947982e-03 -4.65134118e+01] [-1.13974639e-02 -1.53460141e-04 9.99935035e-01 -4.64124929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18862385300002 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:223.83, Y:-46.52, Z:-4.64 [[ 9.60785753e-01 2.77075717e-01 1.09446084e-02 2.23832895e+02] [-2.77059440e-01 9.60848077e-01 -3.00664754e-03 -4.65203103e+01] [-1.13491749e-02 -1.43562959e-04 9.99935586e-01 -4.64185651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21862385300003 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:223.86, Y:-46.53, Z:-4.64 [[ 9.60834309e-01 2.76907266e-01 1.09451957e-02 2.23860412e+02] [-2.76891003e-01 9.60896636e-01 -3.00450747e-03 -4.65276676e+01] [-1.13491717e-02 -1.43792352e-04 9.99935586e-01 -4.64240608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24862385300003 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:223.89, Y:-46.53, Z:-4.64 [[ 9.61105482e-01 2.75945307e-01 1.14210711e-02 2.23886897e+02] [-2.75927567e-01 9.61173329e-01 -3.13210599e-03 -4.65331110e+01] [-1.18419189e-02 -1.41104136e-04 9.99929872e-01 -4.64281254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27862385300003 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:223.91, Y:-46.54, Z:-4.64 [[ 9.61269689e-01 2.75364319e-01 1.16222294e-02 2.23913719e+02] [-2.75345909e-01 9.61339936e-01 -3.18701342e-03 -4.65392797e+01] [-1.20505031e-02 -1.36553926e-04 9.99927381e-01 -4.64362653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30862385300003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:223.94, Y:-46.54, Z:-4.64 [[ 9.61437853e-01 2.74777974e-01 1.15896057e-02 2.23941782e+02] [-2.74759653e-01 9.61507695e-01 -3.17578599e-03 -4.65443567e+01] [-1.20161311e-02 -1.31035182e-04 9.99927795e-01 -4.64363731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33862385300003 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:223.97, Y:-46.55, Z:-4.63 [[ 9.61375007e-01 2.75015724e-01 1.11555879e-02 2.23968243e+02] [-2.74998800e-01 9.61439719e-01 -3.05386658e-03 -4.65495397e+01] [-1.15652867e-02 -1.31862289e-04 9.99933111e-01 -4.63455224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:223.99, Y:-46.55, Z:-4.64 [[ 9.61392583e-01 2.74904854e-01 1.23135068e-02 2.23994479e+02] [-2.74884240e-01 9.61471425e-01 -3.36959082e-03 -4.65549755e+01] [-1.27654018e-02 -1.45289341e-04 9.99918508e-01 -4.64471677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.398623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:224.02, Y:-46.56, Z:-4.65 [[ 9.61205993e-01 2.75540869e-01 1.26597488e-02 2.24022810e+02] [-2.75519142e-01 9.61289345e-01 -3.46384844e-03 -4.65586790e+01] [-1.31241134e-02 -1.58531237e-04 9.99913863e-01 -4.64511940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.428623853 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:224.05, Y:-46.56, Z:-4.65 [[ 9.61145084e-01 2.75770621e-01 1.22756740e-02 2.24049018e+02] [-2.75750250e-01 9.61223459e-01 -3.35571674e-03 -4.65633547e+01] [-1.27250739e-02 -1.59689509e-04 9.99919020e-01 -4.64576197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.458623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:224.08, Y:-46.57, Z:-4.65 [[ 9.61227290e-01 2.75510549e-01 1.16633706e-02 2.24076775e+02] [-2.75492143e-01 9.61298037e-01 -3.18814377e-03 -4.65663579e+01] [-1.20903425e-02 -1.48636165e-04 9.99926898e-01 -4.64678531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.488623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:224.10, Y:-46.57, Z:-4.65 [[ 9.61396994e-01 2.74935724e-01 1.12324093e-02 2.24104350e+02] [-2.74918636e-01 9.61462599e-01 -3.06833917e-03 -4.65715890e+01] [-1.16431375e-02 -1.38106593e-04 9.99932207e-01 -4.64773026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.518623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:224.13, Y:-46.58, Z:-4.65 [[ 9.61613386e-01 2.74194955e-01 1.08084628e-02 2.24131702e+02] [-2.74179109e-01 9.61674119e-01 -2.95056348e-03 -4.65764480e+01] [-1.12032486e-02 -1.26153367e-04 9.99937234e-01 -4.64793550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.548623853 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:224.16, Y:-46.58, Z:-4.65 [[ 9.61876087e-01 2.73271810e-01 1.08125937e-02 2.24159132e+02] [-2.73255917e-01 9.61936850e-01 -2.94955802e-03 -4.65811744e+01] [-1.12070633e-02 -1.17495864e-04 9.99937192e-01 -4.64847720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.578623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:224.19, Y:-46.58, Z:-4.65 [[ 9.62489131e-01 2.71065641e-01 1.17512033e-02 2.24186607e+02] [-2.71046748e-01 9.62560859e-01 -3.20200877e-03 -4.65845612e+01] [-1.21792029e-02 -1.03226783e-04 9.99925825e-01 -4.64948135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.608623853 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:224.21, Y:-46.59, Z:-4.65 [[ 9.62867226e-01 2.69695687e-01 1.22858477e-02 2.24212901e+02] [-2.69674940e-01 9.62945600e-01 -3.34646667e-03 -4.65896075e+01] [-1.27331306e-02 -9.09821612e-05 9.99918926e-01 -4.64949608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.638623853 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:224.24, Y:-46.59, Z:-4.65 [[ 9.63800692e-01 2.66290675e-01 1.33230235e-02 2.24241011e+02] [-2.66265959e-01 9.63892771e-01 -3.62836053e-03 -4.65930812e+01] [-1.38081647e-02 -5.04512538e-05 9.99904661e-01 -4.64975208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.668623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:224.27, Y:-46.60, Z:-4.65 [[ 9.64272151e-01 2.64582097e-01 1.32489153e-02 2.24267318e+02] [-2.64557540e-01 9.64363165e-01 -3.60486666e-03 -4.65984890e+01] [-1.37305491e-02 -2.90279123e-05 9.99905731e-01 -4.65021576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69862385300002 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:224.29, Y:-46.60, Z:-4.65 [[ 9.64821328e-01 2.62570237e-01 1.32919827e-02 2.24294761e+02] [-2.62545336e-01 9.64912883e-01 -3.61600548e-03 -4.66039284e+01] [-1.37750607e-02 -9.48855661e-07 9.99905119e-01 -4.65160707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72862385300002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:224.32, Y:-46.61, Z:-4.65 [[ 9.65748630e-01 2.59181757e-01 1.24258206e-02 2.24321589e+02] [-2.59159754e-01 9.65828564e-01 -3.37739999e-03 -4.66077661e+01] [-1.28765730e-02 4.14467897e-05 9.99917093e-01 -4.65239370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:224.35, Y:-46.61, Z:-4.65 [[ 9.66128322e-01 2.57793979e-01 1.17613729e-02 2.24348754e+02] [-2.57774166e-01 9.66199907e-01 -3.19661621e-03 -4.66131298e+01] [-1.21879058e-02 5.65633607e-05 9.99925723e-01 -4.65326141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:224.38, Y:-46.62, Z:-4.65 [[ 9.66471871e-01 2.56505911e-01 1.16978377e-02 2.24375978e+02] [-2.56486245e-01 9.66542659e-01 -3.17706887e-03 -4.66190096e+01] [-1.21213961e-02 7.02132315e-05 9.99926531e-01 -4.65422821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81862385300002 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:224.40, Y:-46.63, Z:-4.65 [[ 9.66744951e-01 2.55493981e-01 1.12705848e-02 2.24403188e+02] [-2.55475681e-01 9.66810643e-01 -3.05890355e-03 -4.66251424e+01] [-1.16780528e-02 7.78192428e-05 9.99931806e-01 -4.65481454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84862385300002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:224.43, Y:-46.63, Z:-4.64 [[ 9.67038481e-01 2.54443441e-01 9.75250922e-03 2.24430363e+02] [-2.54429711e-01 9.67087654e-01 -2.64433414e-03 -4.66298662e+01] [-1.01043647e-02 7.58447664e-05 9.99948947e-01 -4.64416603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87862385300002 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:224.46, Y:-46.64, Z:-4.65 [[ 9.67282709e-01 2.53460276e-01 1.10475781e-02 2.24457527e+02] [-2.53442598e-01 9.67345791e-01 -2.99509848e-03 -4.66353522e+01] [-1.14459667e-02 9.71800802e-05 9.99934488e-01 -4.65488766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:224.48, Y:-46.64, Z:-4.66 [[ 9.67519318e-01 2.52513828e-01 1.19639854e-02 2.24484290e+02] [-2.52493062e-01 9.67593279e-01 -3.24038876e-03 -4.66392180e+01] [-1.23945149e-02 1.14315409e-04 9.99923179e-01 -4.65558912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93862385300002 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:224.51, Y:-46.65, Z:-4.66 [[ 9.67688259e-01 2.51847483e-01 1.23401410e-02 2.24512035e+02] [-2.51825353e-01 9.67766929e-01 -3.34088985e-03 -4.66452336e+01] [-1.27837750e-02 1.25379525e-04 9.99918276e-01 -4.65570148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96862385300003 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:224.54, Y:-46.65, Z:-4.66 [[ 9.67949271e-01 2.50803214e-01 1.31132387e-02 2.24538493e+02] [-2.50778177e-01 9.68038081e-01 -3.54669313e-03 -4.66496975e+01] [-1.35836365e-02 1.44504932e-04 9.99907728e-01 -4.65604244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99862385300003 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:224.57, Y:-46.66, Z:-4.65 [[ 9.68110106e-01 2.50193089e-01 1.28934333e-02 2.24565681e+02] [-2.50168836e-01 9.68195949e-01 -3.48678521e-03 -4.66554899e+01] [-1.33557395e-02 1.50056790e-04 9.99910797e-01 -4.64655591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02862385300003 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:224.59, Y:-46.66, Z:-4.66 [[ 9.68342453e-01 2.49224662e-01 1.41407486e-02 2.24593031e+02] [-2.49195433e-01 9.68445681e-01 -3.82090199e-03 -4.66619169e+01] [-1.46468100e-02 1.76131616e-04 9.99892714e-01 -4.65757934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05862385300003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:224.62, Y:-46.67, Z:-4.66 [[ 9.68504693e-01 2.48581862e-01 1.43428583e-02 2.24619638e+02] [-2.48551772e-01 9.68610873e-01 -3.87206477e-03 -4.66682224e+01] [-1.48551736e-02 1.85170046e-04 9.99889639e-01 -4.65776350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08862385300003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:224.65, Y:-46.67, Z:-4.66 [[ 9.68835009e-01 2.47324764e-01 1.37545230e-02 2.24647048e+02] [-2.47296974e-01 9.68932620e-01 -3.71264658e-03 -4.66736960e+01] [-1.42454354e-02 1.95490068e-04 9.99898510e-01 -4.65850626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11862385300003 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:224.67, Y:-46.68, Z:-4.66 [[ 9.68999802e-01 2.46691402e-01 1.35179502e-02 2.24673491e+02] [-2.46664540e-01 9.69094068e-01 -3.64582077e-03 -4.66798123e+01] [-1.39995580e-02 1.98400650e-04 9.99901982e-01 -4.65957821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.148623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:224.70, Y:-46.69, Z:-4.66 [[ 9.69187011e-01 2.45982917e-01 1.29977948e-02 2.24701089e+02] [-2.45958037e-01 9.69274143e-01 -3.50418328e-03 -4.66865861e+01] [-1.34603956e-02 1.99296828e-04 9.99909385e-01 -4.66004420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.178623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:224.73, Y:-46.69, Z:-4.66 [[ 9.69497273e-01 2.44784110e-01 1.24810826e-02 2.24727868e+02] [-2.44761107e-01 9.69577587e-01 -3.36194516e-03 -4.66926431e+01] [-1.29243287e-02 2.04513073e-04 9.99916456e-01 -4.66098404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.208623853 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:224.76, Y:-46.70, Z:-4.66 [[ 9.69692226e-01 2.43989692e-01 1.28847503e-02 2.24755100e+02] [-2.43965114e-01 9.69777800e-01 -3.47015869e-03 -4.66992371e+01] [-1.33420277e-02 2.21556338e-04 9.99910967e-01 -4.66146765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.238623853 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:224.78, Y:-46.71, Z:-4.66 [[ 9.69900255e-01 2.43151249e-01 1.30754087e-02 2.24781704e+02] [-2.43125896e-01 9.69988358e-01 -3.51898418e-03 -4.67061753e+01] [-1.35386396e-02 2.34093195e-04 9.99908321e-01 -4.66160947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.268623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:224.81, Y:-46.71, Z:-4.66 [[ 9.70397726e-01 2.41108873e-01 1.39557934e-02 2.24808219e+02] [-2.41079822e-01 9.70498034e-01 -3.75296605e-03 -4.67138076e+01] [-1.44489435e-02 2.77409530e-04 9.99895570e-01 -4.66229050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.298623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:224.83, Y:-46.72, Z:-4.66 [[ 9.70620307e-01 2.40196760e-01 1.42033808e-02 2.24834400e+02] [-2.40166621e-01 9.70724179e-01 -3.81619603e-03 -4.67211223e+01] [-1.47042030e-02 2.92899394e-04 9.99891844e-01 -4.66241612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.328623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:224.86, Y:-46.73, Z:-4.66 [[ 9.70884233e-01 2.39114457e-01 1.44250633e-02 2.24861069e+02] [-2.39083263e-01 9.70991338e-01 -3.87494807e-03 -4.67282194e+01] [-1.49331676e-02 3.13334777e-04 9.99888445e-01 -4.66307020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.358623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:224.89, Y:-46.74, Z:-4.66 [[ 9.71305392e-01 2.37421764e-01 1.40264547e-02 2.24888209e+02] [-2.37392132e-01 9.71406608e-01 -3.76522678e-03 -4.67364381e+01] [-1.45193375e-02 3.27415098e-04 9.99894535e-01 -4.66378530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.388623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:224.91, Y:-46.74, Z:-4.66 [[ 9.71519755e-01 2.36556569e-01 1.37969594e-02 2.24914562e+02] [-2.36527853e-01 9.71617661e-01 -3.70071132e-03 -4.67447325e+01] [-1.42807969e-02 3.31948989e-04 9.99897969e-01 -4.66482865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.418623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:224.94, Y:-46.75, Z:-4.66 [[ 9.71614744e-01 2.36199552e-01 1.32121774e-02 2.24940555e+02] [-2.36173198e-01 9.71704517e-01 -3.54299063e-03 -4.67526564e+01] [-1.36751852e-02 3.22059758e-04 9.99906438e-01 -4.65886164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44862385300002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:224.97, Y:-46.76, Z:-4.66 [[ 9.71726409e-01 2.35688258e-01 1.41007506e-02 2.24966680e+02] [-2.35658206e-01 9.71828649e-01 -3.77988649e-03 -4.67615339e+01] [-1.45943883e-02 3.50057926e-04 9.99893435e-01 -4.66457378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:224.99, Y:-46.77, Z:-4.67 [[ 9.71722977e-01 2.35697040e-01 1.41901843e-02 2.24992283e+02] [-2.35666621e-01 9.71826518e-01 -3.80286429e-03 -4.67698060e+01] [-1.46867213e-02 3.51177809e-04 9.99892083e-01 -4.66541533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:225.02, Y:-46.78, Z:-4.67 [[ 9.71727110e-01 2.35667861e-01 1.43903909e-02 2.25019006e+02] [-2.35636593e-01 9.71833593e-01 -3.85522712e-03 -4.67783419e+01] [-1.48936184e-02 3.55326027e-04 9.99889021e-01 -4.66615936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:225.04, Y:-46.79, Z:-4.67 [[ 9.71710514e-01 2.35734005e-01 1.44275690e-02 2.25044368e+02] [-2.35702595e-01 9.71817551e-01 -3.86438524e-03 -4.67873239e+01] [-1.49319318e-02 3.54448310e-04 9.99888450e-01 -4.66638031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56862385300002 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:225.07, Y:-46.80, Z:-4.67 [[ 9.71658431e-01 2.35972350e-01 1.40336445e-02 2.25070723e+02] [-2.35942687e-01 9.71759711e-01 -3.75680203e-03 -4.67958306e+01] [-1.45238317e-02 3.39192576e-04 9.99894466e-01 -4.66675367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:225.10, Y:-46.80, Z:-4.67 [[ 9.71626571e-01 2.36088455e-01 1.42845544e-02 2.25097436e+02] [-2.36057750e-01 9.71731508e-01 -3.82292548e-03 -4.68049809e+01] [-1.47833002e-02 3.42476197e-04 9.99890662e-01 -4.66838239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:225.12, Y:-46.81, Z:-4.67 [[ 9.71569131e-01 2.36329266e-01 1.42092173e-02 2.25122530e+02] [-2.36298924e-01 9.71672972e-01 -3.80176473e-03 -4.68142603e+01] [-1.47051806e-02 3.36054499e-04 9.99891817e-01 -4.66905333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:225.15, Y:-46.83, Z:-4.67 [[ 9.71348825e-01 2.37235406e-01 1.41712077e-02 2.25147399e+02] [-2.37205340e-01 9.71452140e-01 -3.79036835e-03 -4.68256966e+01] [-1.46658596e-02 3.20283695e-04 9.99892399e-01 -4.66945093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:225.17, Y:-46.83, Z:-4.67 [[ 9.71238398e-01 2.37692915e-01 1.40731394e-02 2.25173590e+02] [-2.37663330e-01 9.71340302e-01 -3.76289342e-03 -4.68342288e+01] [-1.45642206e-02 3.09997394e-04 9.99893888e-01 -4.66969013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71862385300003 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:225.20, Y:-46.84, Z:-4.67 [[ 9.70565340e-01 2.40479369e-01 1.31374813e-02 2.25198717e+02] [-2.40453853e-01 9.70654218e-01 -3.51190477e-03 -4.68438515e+01] [-1.35964923e-02 2.49575042e-04 9.99907532e-01 -4.66967876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:225.22, Y:-46.85, Z:-4.67 [[ 9.70097920e-01 2.42358878e-01 1.31224730e-02 2.25224446e+02] [-2.42333608e-01 9.70186644e-01 -3.50673970e-03 -4.68520322e+01] [-1.35811375e-02 2.21864662e-04 9.99907747e-01 -4.67029689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:225.25, Y:-46.86, Z:-4.67 [[ 9.69568333e-01 2.44483788e-01 1.28422973e-02 2.25249629e+02] [-2.44459785e-01 9.69653362e-01 -3.43087802e-03 -4.68605732e+01] [-1.32913708e-02 1.87045442e-04 9.99911648e-01 -4.67079835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:225.28, Y:-46.87, Z:-4.67 [[ 9.68366714e-01 2.49190433e-01 1.30397520e-02 2.25275462e+02] [-2.49166120e-01 9.68454497e-01 -3.48313891e-03 -4.68708231e+01] [-1.34963713e-02 1.23891386e-04 9.99908912e-01 -4.67084826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83862385300003 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:225.30, Y:-46.88, Z:-4.67 [[ 9.67790936e-01 2.51416916e-01 1.30475473e-02 2.25302301e+02] [-2.51392807e-01 9.67878880e-01 -3.48293529e-03 -4.68790356e+01] [-1.35041143e-02 9.06936690e-05 9.99908811e-01 -4.67155686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:225.33, Y:-46.89, Z:-4.67 [[ 9.67241677e-01 2.53507066e-01 1.33306651e-02 2.25328870e+02] [-2.53482133e-01 9.67333533e-01 -3.55586616e-03 -4.68868783e+01] [-1.37966366e-02 6.02965011e-05 9.99904820e-01 -4.67202302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.898623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:225.35, Y:-46.90, Z:-4.67 [[ 9.66151730e-01 2.57603947e-01 1.38217611e-02 2.25354507e+02] [-2.57577610e-01 9.66250592e-01 -3.68353537e-03 -4.68959170e+01] [-1.43041781e-02 -1.32213525e-06 9.99897690e-01 -4.67264112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.928623853 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:225.38, Y:-46.90, Z:-4.67 [[ 9.65679702e-01 2.59357661e-01 1.40113301e-02 2.25381275e+02] [-2.59330792e-01 9.65781343e-01 -3.73329273e-03 -4.69039479e+01] [-1.45001393e-02 -2.84043317e-05 9.99894867e-01 -4.67263900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.958623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:225.41, Y:-46.91, Z:-4.67 [[ 9.64849277e-01 2.62408033e-01 1.44185966e-02 2.25407558e+02] [-2.62379959e-01 9.64957003e-01 -3.83914233e-03 -4.69124232e+01] [-1.49207475e-02 -7.89570856e-05 9.99888676e-01 -4.67364805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.988623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:225.43, Y:-46.92, Z:-4.67 [[ 9.64411123e-01 2.64038339e-01 1.39621419e-02 2.25434692e+02] [-2.64012218e-01 9.64512180e-01 -3.71529789e-03 -4.69196317e+01] [-1.44476370e-02 -1.03101444e-04 9.99895622e-01 -4.67445166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.018623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:225.46, Y:-46.93, Z:-4.68 [[ 9.64043647e-01 2.65385029e-01 1.38069692e-02 2.25460985e+02] [-2.65359666e-01 9.64142506e-01 -3.67107723e-03 -4.69265645e+01] [-1.42861348e-02 -1.24734045e-04 9.99897940e-01 -4.67518666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.048623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:225.49, Y:-46.93, Z:-4.68 [[ 9.63754267e-01 2.66423628e-01 1.40058378e-02 2.25488067e+02] [-2.66397661e-01 9.63856021e-01 -3.72238990e-03 -4.69338431e+01] [-1.44913437e-02 -1.43653282e-04 9.99894985e-01 -4.67608142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.078623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:225.51, Y:-46.94, Z:-4.68 [[ 9.62995368e-01 2.69177270e-01 1.35468856e-02 2.25514180e+02] [-2.69153294e-01 9.63090631e-01 -3.59723506e-03 -4.69413417e+01] [-1.40151725e-02 -1.82068176e-04 9.99901766e-01 -4.67670410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.108623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:225.54, Y:-46.95, Z:-4.68 [[ 9.62761659e-01 2.70027700e-01 1.32298719e-02 2.25541270e+02] [-2.70004921e-01 9.62852535e-01 -3.51254803e-03 -4.69483284e+01] [-1.36869010e-02 -1.90383957e-04 9.99906312e-01 -4.67815875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.138623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:225.57, Y:-46.96, Z:-4.68 [[ 9.62808928e-01 2.69859075e-01 1.32305468e-02 2.25568845e+02] [-2.69836315e-01 9.62899810e-01 -3.51000386e-03 -4.69554508e+01] [-1.36868974e-02 -1.90618933e-04 9.99906312e-01 -4.67870831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.168623853 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:225.60, Y:-46.96, Z:-4.68 [[ 9.62583391e-01 2.70684073e-01 1.27807595e-02 2.25595262e+02] [-2.70662944e-01 9.62668216e-01 -3.38781077e-03 -4.69620234e+01] [-1.32206573e-02 -1.98227604e-04 9.99912584e-01 -4.67898466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19862385300002 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:225.62, Y:-46.97, Z:-4.68 [[ 9.62771640e-01 2.69988998e-01 1.32932390e-02 2.25622273e+02] [-2.69966083e-01 9.62863387e-01 -3.52301860e-03 -4.69685791e+01] [-1.37507494e-02 -1.96861260e-04 9.99905435e-01 -4.67971376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:225.65, Y:-46.97, Z:-4.68 [[ 9.63523419e-01 2.67244608e-01 1.42457022e-02 2.25650000e+02] [-2.67218037e-01 9.63628710e-01 -3.77239250e-03 -4.69748302e+01] [-1.47357191e-02 -1.71920037e-04 9.99891409e-01 -4.67984681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:225.68, Y:-46.98, Z:-4.68 [[ 9.64078893e-01 2.65206046e-01 1.47526572e-02 2.25676617e+02] [-2.65177357e-01 9.64191750e-01 -3.90360687e-03 -4.69820846e+01] [-1.52596505e-02 -1.48685648e-04 9.99883554e-01 -4.68038273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28862385300002 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:225.70, Y:-46.99, Z:-4.68 [[ 9.64755740e-01 2.62748398e-01 1.44789846e-02 2.25702302e+02] [-2.62720535e-01 9.64864378e-01 -3.82795868e-03 -4.69892098e+01] [-1.49760464e-02 -1.10881468e-04 9.99887847e-01 -4.68075736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31862385300002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:225.73, Y:-47.00, Z:-4.68 [[ 9.65497894e-01 2.60014159e-01 1.43684891e-02 2.25729006e+02] [-2.59986428e-01 9.65604801e-01 -3.79800399e-03 -4.69967906e+01] [-1.48618169e-02 -6.86472952e-05 9.99889555e-01 -4.68140574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34862385300002 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:225.76, Y:-47.00, Z:-4.68 [[ 9.67061866e-01 2.54165762e-01 1.38243784e-02 2.25755056e+02] [-2.54139538e-01 9.67160672e-01 -3.65109179e-03 -4.70045915e+01] [-1.42983776e-02 1.75105053e-05 9.99897773e-01 -4.68191647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37862385300002 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:225.78, Y:-47.01, Z:-4.68 [[ 9.67864835e-01 2.51097760e-01 1.36958726e-02 2.25780857e+02] [-2.51071729e-01 9.67961730e-01 -3.61600467e-03 -4.70124892e+01] [-1.41650512e-02 6.11573519e-05 9.99899669e-01 -4.68240420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:225.81, Y:-47.02, Z:-4.68 [[ 9.69387437e-01 2.45150034e-01 1.37643838e-02 2.25807232e+02] [-2.45123159e-01 9.69485141e-01 -3.63287677e-03 -4.70220940e+01] [-1.42349655e-02 1.47695857e-04 9.99898667e-01 -4.68278840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:225.83, Y:-47.03, Z:-4.68 [[ 9.70115527e-01 2.42234186e-01 1.40877054e-02 2.25834319e+02] [-2.42205741e-01 9.70217791e-01 -3.71719139e-03 -4.70303708e+01] [-1.45685732e-02 1.93981959e-04 9.99893854e-01 -4.68305877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46862385300003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:225.86, Y:-47.04, Z:-4.68 [[ 9.70791875e-01 2.39482777e-01 1.45304950e-02 2.25861040e+02] [-2.39452225e-01 9.70900583e-01 -3.83283999e-03 -4.70389264e+01] [-1.50255652e-02 2.41530563e-04 9.99887081e-01 -4.68319331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49862385300003 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:225.89, Y:-47.05, Z:-4.67 [[ 9.71849872e-01 2.35156534e-01 1.44648297e-02 2.25885783e+02] [-2.35125794e-01 9.71957463e-01 -3.81445212e-03 -4.70505489e+01] [-1.49561925e-02 3.06020238e-04 9.99888103e-01 -4.67252682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52862385300003 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:225.91, Y:-47.06, Z:-4.68 [[ 9.72285545e-01 2.33285184e-01 1.54545166e-02 2.25911486e+02] [-2.33249882e-01 9.72408297e-01 -4.07386991e-03 -4.70605315e+01] [-1.59784737e-02 3.56200650e-04 9.99872273e-01 -4.68396371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55862385300003 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:225.94, Y:-47.07, Z:-4.68 [[ 9.72818605e-01 2.31010944e-01 1.60594535e-02 2.25938124e+02] [-2.30972535e-01 9.72951066e-01 -4.23209084e-03 -4.70709456e+01] [-1.66027217e-02 4.07764019e-04 9.99862082e-01 -4.68395037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58862385300003 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:225.97, Y:-47.08, Z:-4.68 [[ 9.72953309e-01 2.30442449e-01 1.60666004e-02 2.25965112e+02] [-2.30403949e-01 9.73085867e-01 -4.23276772e-03 -4.70796923e+01] [-1.66095911e-02 4.16477194e-04 9.99861964e-01 -4.68393283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61862385300003 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:225.99, Y:-47.09, Z:-4.68 [[ 9.72985802e-01 2.30298003e-01 1.61697160e-02 2.25990611e+02] [-2.30259007e-01 9.73120061e-01 -4.25871738e-03 -4.70888382e+01] [-1.67158492e-02 4.20448792e-04 9.99860192e-01 -4.68457374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.648623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:226.02, Y:-47.10, Z:-4.68 [[ 9.72998135e-01 2.30209856e-01 1.66748953e-02 2.26016476e+02] [-2.30168399e-01 9.73140912e-01 -4.39021129e-03 -4.70987213e+01] [-1.72376927e-02 4.33633443e-04 9.99851326e-01 -4.68496353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.678623853 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:226.04, Y:-47.11, Z:-4.69 [[ 9.72846000e-01 2.30901646e-01 1.59715572e-02 2.26041487e+02] [-2.30863726e-01 9.72977013e-01 -4.20384246e-03 -4.71120401e+01] [-1.65106322e-02 4.02438105e-04 9.99863609e-01 -4.68507149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.708623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:226.07, Y:-47.12, Z:-4.69 [[ 9.72634187e-01 2.31819796e-01 1.55666417e-02 2.26068109e+02] [-2.31783907e-01 9.72758675e-01 -4.09634300e-03 -4.71218359e+01] [-1.60921991e-02 3.76146216e-04 9.99870441e-01 -4.68601118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.738623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:226.09, Y:-47.13, Z:-4.69 [[ 9.72327749e-01 2.33115078e-01 1.53658172e-02 2.26094587e+02] [-2.33080288e-01 9.72449093e-01 -4.04237218e-03 -4.71314370e+01] [-1.58848129e-02 3.49041542e-04 9.99873767e-01 -4.68669617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.768623853 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:226.12, Y:-47.14, Z:-4.69 [[ 9.71514225e-01 2.36505492e-01 1.50087704e-02 2.26118995e+02] [-2.36472719e-01 9.71630110e-01 -3.94746318e-03 -4.71439252e+01] [-1.55165700e-02 2.85851877e-04 9.99879570e-01 -4.68762756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.798623853 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:226.15, Y:-47.15, Z:-4.69 [[ 9.71012686e-01 2.38581597e-01 1.46008914e-02 2.26145371e+02] [-2.38550841e-01 9.71122424e-01 -3.83851264e-03 -4.71537477e+01] [-1.50950515e-02 2.44189540e-04 9.99886033e-01 -4.68775190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.828623853 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:226.17, Y:-47.17, Z:-4.69 [[ 9.69641499e-01 2.44094761e-01 1.45983218e-02 2.26169770e+02] [-2.44064654e-01 9.69751372e-01 -3.83688474e-03 -4.71661083e+01] [-1.50933061e-02 1.57468305e-04 9.99886077e-01 -4.68851294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.858623853 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:226.20, Y:-47.18, Z:-4.69 [[ 9.68837763e-01 2.47255027e-01 1.47763805e-02 2.26196638e+02] [-2.47224577e-01 9.68950432e-01 -3.88178692e-03 -4.71763713e+01] [-1.52773716e-02 1.07737349e-04 9.99883288e-01 -4.68891523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.888623853 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:226.22, Y:-47.19, Z:-4.68 [[ 9.67882603e-01 2.50981546e-01 1.45440767e-02 2.26223279e+02] [-2.50952477e-01 9.67991871e-01 -3.82005924e-03 -4.71862026e+01] [-1.50373123e-02 4.74968155e-05 9.99886932e-01 -4.68266584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.918623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:226.25, Y:-47.20, Z:-4.69 [[ 9.66841197e-01 2.54924423e-01 1.52196376e-02 2.26250043e+02] [-2.54893095e-01 9.66960981e-01 -3.99646739e-03 -4.71952030e+01] [-1.57355929e-02 -1.54312319e-05 9.99876188e-01 -4.68940727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94862385300002 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:226.28, Y:-47.20, Z:-4.69 [[ 9.64567165e-01 2.63422805e-01 1.47854531e-02 2.26276285e+02] [-2.63394252e-01 9.64680467e-01 -3.88138861e-03 -4.72047518e+01] [-1.52856841e-02 -1.50543352e-04 9.99883156e-01 -4.68980071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97862385300002 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:226.30, Y:-47.21, Z:-4.69 [[ 9.63270015e-01 2.68150517e-01 1.43589110e-02 2.26301702e+02] [-2.68124127e-01 9.63377004e-01 -3.76837654e-03 -4.72124724e+01] [-1.48435368e-02 -2.20006346e-04 9.99889804e-01 -4.69087083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00862385300002 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:226.33, Y:-47.22, Z:-4.69 [[ 9.61990856e-01 2.72733588e-01 1.37834461e-02 2.26327527e+02] [-2.72709758e-01 9.62089555e-01 -3.61614899e-03 -4.72199058e+01] [-1.42471548e-02 -2.80178004e-04 9.99898465e-01 -4.69153487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03862385300002 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:226.35, Y:-47.23, Z:-4.69 [[ 9.59602134e-01 2.81047428e-01 1.32697898e-02 2.26354258e+02] [-2.81026150e-01 9.59693801e-01 -3.48018190e-03 -4.72268465e+01] [-1.37130312e-02 -3.89567962e-04 9.99905896e-01 -4.69225459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06862385300002 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:226.38, Y:-47.23, Z:-4.69 [[ 9.58446981e-01 2.84962981e-01 1.32470461e-02 2.26380017e+02] [-2.84942157e-01 9.58538419e-01 -3.47357326e-03 -4.72333083e+01] [-1.36876425e-02 -4.45406095e-04 9.99906221e-01 -4.69269488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09862385300002 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:226.41, Y:-47.24, Z:-4.69 [[ 9.56414208e-01 2.91717062e-01 1.31536689e-02 2.26406999e+02] [-2.91697196e-01 9.56504503e-01 -3.44705403e-03 -4.72392517e+01] [-1.35871080e-02 -5.40076875e-04 9.99907545e-01 -4.69307084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12862385300002 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:226.43, Y:-47.25, Z:-4.69 [[ 9.55524669e-01 2.94616767e-01 1.31744938e-02 2.26433339e+02] [-2.94597125e-01 9.55615310e-01 -3.45157761e-03 -4.72450398e+01] [-1.36066406e-02 -5.83100448e-04 9.99907255e-01 -4.69365529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15862385300002 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:226.46, Y:-47.25, Z:-4.69 [[ 9.54790429e-01 2.96985885e-01 1.32144032e-02 2.26459921e+02] [-2.96966366e-01 9.54881668e-01 -3.46086227e-03 -4.72507475e+01] [-1.36460186e-02 -6.19835112e-04 9.99906697e-01 -4.69389833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18862385300002 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:226.49, Y:-47.25, Z:-4.69 [[ 9.53869730e-01 2.99881301e-01 1.42739084e-02 2.26488184e+02] [-2.99858870e-01 9.53976254e-01 -3.73697185e-03 -4.72547185e+01] [-1.47376177e-02 -7.15573723e-04 9.99891139e-01 -4.69380271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21862385300003 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:226.51, Y:-47.26, Z:-4.69 [[ 9.53682493e-01 3.00454386e-01 1.47262923e-02 2.26514397e+02] [-3.00430592e-01 9.53795891e-01 -3.85450509e-03 -4.72593879e+01] [-1.52039801e-02 -7.48254709e-04 9.99884133e-01 -4.69392969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24862385300003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:226.54, Y:-47.26, Z:-4.69 [[ 9.53583207e-01 3.00741299e-01 1.52884732e-02 2.26542313e+02] [-3.00715728e-01 9.53705435e-01 -3.99928310e-03 -4.72645992e+01] [-1.57834496e-02 -7.83835151e-04 9.99875126e-01 -4.69453770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27862385300003 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:226.57, Y:-47.27, Z:-4.69 [[ 9.53720627e-01 3.00277562e-01 1.58224882e-02 2.26569333e+02] [-3.00250129e-01 9.53851528e-01 -4.13779804e-03 -4.72665910e+01] [-1.63347925e-02 -8.04400784e-04 9.99866255e-01 -4.69468245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30862385300003 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:226.60, Y:-47.27, Z:-4.70 [[ 9.54009810e-01 2.99368968e-01 1.56046246e-02 2.26597076e+02] [-2.99342186e-01 9.54137104e-01 -4.07947640e-03 -4.72708118e+01] [-1.61102199e-02 -7.79261919e-04 9.99869918e-01 -4.69549922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33862385300003 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:226.63, Y:-47.27, Z:-4.69 [[ 9.54905103e-01 2.96553821e-01 1.45627948e-02 2.26625679e+02] [-2.96530183e-01 9.55015897e-01 -3.80614784e-03 -4.72715137e+01] [-1.50364282e-02 -6.83798217e-04 9.99886713e-01 -4.69140941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36862385300003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:226.65, Y:-47.28, Z:-4.70 [[ 9.55631709e-01 2.94196715e-01 1.47081232e-02 2.26652727e+02] [-2.94172340e-01 9.55744665e-01 -3.84309427e-03 -4.72750615e+01] [-1.51878360e-02 -6.54140291e-04 9.99884444e-01 -4.69777020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.398623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:226.68, Y:-47.28, Z:-4.70 [[ 9.56448926e-01 2.91531239e-01 1.46624786e-02 2.26680996e+02] [-2.91506714e-01 9.56561114e-01 -3.83036940e-03 -4.72787886e+01] [-1.51422292e-02 -6.10658259e-04 9.99885163e-01 -4.69847129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.428623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:226.71, Y:-47.28, Z:-4.70 [[ 9.58276614e-01 2.85452436e-01 1.49277547e-02 2.26709178e+02] [-2.85426324e-01 9.58392732e-01 -3.89668255e-03 -4.72800681e+01] [-1.54189691e-02 -5.26674384e-04 9.99880982e-01 -4.69901091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.458623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:226.74, Y:-47.28, Z:-4.70 [[ 9.59252690e-01 2.82146971e-01 1.50785952e-02 2.26736220e+02] [-2.82119968e-01 9.59371073e-01 -3.93295629e-03 -4.72839932e+01] [-1.55756398e-02 -4.81273901e-04 9.99878577e-01 -4.69902549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.488623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:226.76, Y:-47.29, Z:-4.70 [[ 9.60288796e-01 2.78595465e-01 1.51655724e-02 2.26762699e+02] [-2.78567728e-01 9.60408446e-01 -3.95435449e-03 -4.72874314e+01] [-1.56668090e-02 -4.27316721e-04 9.99877177e-01 -4.69961674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.518623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:226.79, Y:-47.29, Z:-4.70 [[ 9.61413156e-01 2.74678211e-01 1.53825676e-02 2.26790559e+02] [-2.74649187e-01 9.61536138e-01 -4.00998684e-03 -4.72912940e+01] [-1.58923507e-02 -3.69555588e-04 9.99873640e-01 -4.70003941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.548623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:226.82, Y:-47.29, Z:-4.70 [[ 9.63511859e-01 2.67188108e-01 1.59816031e-02 2.26818139e+02] [-2.67155805e-01 9.63644358e-01 -4.16266635e-03 -4.72935640e+01] [-1.65127966e-02 -2.58799653e-04 9.99863621e-01 -4.70056966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.578623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:226.84, Y:-47.30, Z:-4.70 [[ 9.64602369e-01 2.63226443e-01 1.59408191e-02 2.26844567e+02] [-2.63193786e-01 9.64734058e-01 -4.15071735e-03 -4.72982184e+01] [-1.64712297e-02 -1.91732734e-04 9.99864322e-01 -4.70054486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.608623853 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:226.87, Y:-47.30, Z:-4.70 [[ 9.66625061e-01 2.55738113e-01 1.52973523e-02 2.26872303e+02] [-2.55707113e-01 9.66746096e-01 -3.98227654e-03 -4.73010221e+01] [-1.58070755e-02 -6.22734816e-05 9.99875058e-01 -4.70143046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.638623853 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:226.90, Y:-47.31, Z:-4.70 [[ 9.67485613e-01 2.52487984e-01 1.48797528e-02 2.26900033e+02] [-2.52458314e-01 9.67600030e-01 -3.87064715e-03 -4.73062680e+01] [-1.53749412e-02 -1.17218856e-05 9.99881799e-01 -4.70205459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.668623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:226.93, Y:-47.31, Z:-4.70 [[ 9.68224339e-01 2.49649114e-01 1.47291704e-02 2.26927095e+02] [-2.49619726e-01 9.68336367e-01 -3.83060025e-03 -4.73112724e+01] [-1.52190974e-02 3.21889010e-05 9.99884182e-01 -4.70306177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:226.95, Y:-47.31, Z:-4.70 [[ 9.69519405e-01 2.44586249e-01 1.44806611e-02 2.26954969e+02] [-2.44557313e-01 9.69627534e-01 -3.76370614e-03 -4.73146780e+01] [-1.49613985e-02 1.07634570e-04 9.99888066e-01 -4.70346030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:226.98, Y:-47.32, Z:-4.70 [[ 9.70112115e-01 2.42221621e-01 1.45317460e-02 2.26981974e+02] [-2.42192230e-01 9.70220937e-01 -3.77595354e-03 -4.73201549e+01] [-1.50136218e-02 1.43622303e-04 9.99887279e-01 -4.70359455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.01, Y:-47.33, Z:-4.70 [[ 9.70635034e-01 2.40102101e-01 1.47855334e-02 2.27009627e+02] [-2.40071446e-01 9.70747624e-01 -3.84078579e-03 -4.73257973e+01] [-1.52752022e-02 1.78416856e-04 9.99883311e-01 -4.70441272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78862385300002 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:227.04, Y:-47.33, Z:-4.70 [[ 9.71495007e-01 2.36616847e-01 1.44885958e-02 2.27036119e+02] [-2.36587038e-01 9.71603014e-01 -3.76266239e-03 -4.73297009e+01] [-1.49674727e-02 2.27593756e-04 9.99887955e-01 -4.70447906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:227.06, Y:-47.34, Z:-4.71 [[ 9.71832033e-01 2.35210893e-01 1.47761969e-02 2.27063272e+02] [-2.35179747e-01 9.71944325e-01 -3.83601117e-03 -4.73356380e+01] [-1.52639124e-02 2.52896274e-04 9.99883468e-01 -4.70523291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:227.09, Y:-47.34, Z:-4.71 [[ 9.72110456e-01 2.34063015e-01 1.46889505e-02 2.27089438e+02] [-2.34032120e-01 9.72221391e-01 -3.81235736e-03 -4.73414766e+01] [-1.51732438e-02 2.68346225e-04 9.99884844e-01 -4.70560758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:227.12, Y:-47.35, Z:-4.71 [[ 9.72251689e-01 2.33467116e-01 1.48242518e-02 2.27116599e+02] [-2.33435600e-01 9.72364658e-01 -3.84616730e-03 -4.73480043e+01] [-1.53125321e-02 2.78934548e-04 9.99882717e-01 -4.70599927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90862385300002 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:227.14, Y:-47.35, Z:-4.71 [[ 9.72331378e-01 2.33136971e-01 1.47933598e-02 2.27142924e+02] [-2.33105563e-01 9.72443866e-01 -3.83713850e-03 -4.73537164e+01] [-1.52802909e-02 2.82555682e-04 9.99883210e-01 -4.70666233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93862385300002 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:227.17, Y:-47.36, Z:-4.71 [[ 9.72284583e-01 2.33332024e-01 1.47938259e-02 2.27169881e+02] [-2.33300656e-01 9.72397084e-01 -3.83598003e-03 -4.73603169e+01] [-1.52805301e-02 2.78254960e-04 9.99883207e-01 -4.70761508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96862385300003 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:227.20, Y:-47.37, Z:-4.71 [[ 9.71841516e-01 2.35209455e-01 1.41626233e-02 2.27195861e+02] [-2.35180919e-01 9.71944678e-01 -3.67141833e-03 -4.73664576e+01] [-1.46288386e-02 2.37258012e-04 9.99892965e-01 -4.70793997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99862385300003 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:227.22, Y:-47.37, Z:-4.71 [[ 9.71530943e-01 2.36504562e-01 1.39002895e-02 2.27223521e+02] [-2.36477223e-01 9.71630355e-01 -3.60224412e-03 -4.73730720e+01] [-1.43578904e-02 2.12589755e-04 9.99896898e-01 -4.70859209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02862385300003 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:227.25, Y:-47.38, Z:-4.71 [[ 9.71556657e-01 2.36398897e-01 1.39004719e-02 2.27251136e+02] [-2.36371557e-01 9.71656069e-01 -3.60154016e-03 -4.73800589e+01] [-1.43578780e-02 2.13424117e-04 9.99896898e-01 -4.70914177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:227.28, Y:-47.39, Z:-4.71 [[ 9.70830639e-01 2.39388812e-01 1.34486995e-02 2.27278587e+02] [-2.39363523e-01 9.70923772e-01 -3.48330012e-03 -4.73863772e+01] [-1.38915251e-02 1.62566391e-04 9.99903495e-01 -4.71015742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08862385300003 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:227.31, Y:-47.39, Z:-4.71 [[ 9.70437440e-01 2.40986081e-01 1.32997334e-02 2.27305695e+02] [-2.40961539e-01 9.70528562e-01 -3.44187940e-03 -4.73929064e+01] [-1.37372161e-02 1.35404424e-04 9.99905631e-01 -4.71017300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11862385300003 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:227.33, Y:-47.40, Z:-4.71 [[ 9.70039209e-01 2.42571943e-01 1.35198206e-02 2.27333286e+02] [-2.42546740e-01 9.70133413e-01 -3.49847315e-03 -4.73994887e+01] [-1.39646611e-02 1.14467706e-04 9.99902483e-01 -4.71051336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.148623853 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:227.36, Y:-47.41, Z:-4.71 [[ 9.69590120e-01 2.44338447e-01 1.39184548e-02 2.27360528e+02] [-2.44311964e-01 9.69690010e-01 -3.59842246e-03 -4.74059186e+01] [-1.43758195e-02 8.85498324e-05 9.99896659e-01 -4.71098781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.178623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:227.39, Y:-47.41, Z:-4.71 [[ 9.69210357e-01 2.45816462e-01 1.43370770e-02 2.27387115e+02] [-2.45788540e-01 9.69316389e-01 -3.70557592e-03 -4.74122953e+01] [-1.48080553e-02 6.75933359e-05 9.99890352e-01 -4.71139640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.208623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:227.41, Y:-47.42, Z:-4.71 [[ 9.68419647e-01 2.48899045e-01 1.45826061e-02 2.27414118e+02] [-2.48870521e-01 9.68529434e-01 -3.76814532e-03 -4.74189378e+01] [-1.50615710e-02 1.99651903e-05 9.99886568e-01 -4.71200064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.238623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:227.44, Y:-47.43, Z:-4.71 [[ 9.68123625e-01 2.50046375e-01 1.46101634e-02 2.27440224e+02] [-2.50017922e-01 9.68233861e-01 -3.77209530e-03 -4.74250993e+01] [-1.50892537e-02 -9.48129601e-07 9.99886151e-01 -4.71323142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.268623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:227.47, Y:-47.43, Z:-4.71 [[ 9.67413156e-01 2.52799740e-01 1.42855757e-02 2.27467504e+02] [-2.52772848e-01 9.67518625e-01 -3.68748531e-03 -4.74311251e+01] [-1.47537558e-02 -4.36838495e-05 9.99891156e-01 -4.71445192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.298623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:227.49, Y:-47.44, Z:-4.71 [[ 9.67090788e-01 2.54050114e-01 1.39264740e-02 2.27494811e+02] [-2.54024722e-01 9.67191054e-01 -3.59234657e-03 -4.74372602e+01] [-1.43821972e-02 -6.35434209e-05 9.99896569e-01 -4.71090545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.328623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:227.52, Y:-47.44, Z:-4.72 [[ 9.66739274e-01 2.55377456e-01 1.40545829e-02 2.27521193e+02] [-2.55351779e-01 9.66841428e-01 -3.62233493e-03 -4.74431455e+01] [-1.45136157e-02 -8.70093091e-05 9.99894668e-01 -4.71565143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.358623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:227.55, Y:-47.45, Z:-4.72 [[ 9.66087342e-01 2.57864968e-01 1.34501092e-02 2.27548793e+02] [-2.57841699e-01 9.66180958e-01 -3.46619722e-03 -4.74480269e+01] [-1.38890502e-02 -1.19349733e-04 9.99903535e-01 -4.71638070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.388623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:227.58, Y:-47.45, Z:-4.72 [[ 9.65910319e-01 2.58534967e-01 1.33014027e-02 2.27576320e+02] [-2.58512310e-01 9.66001891e-01 -3.42520129e-03 -4.74541724e+01] [-1.37347145e-02 -1.30139062e-04 9.99905666e-01 -4.71706709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.418623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:227.60, Y:-47.46, Z:-4.72 [[ 9.65669954e-01 2.59436138e-01 1.32071674e-02 2.27603611e+02] [-2.59413921e-01 9.65760255e-01 -3.39827696e-03 -4.74603688e+01] [-1.36365932e-02 -1.44509141e-04 9.99907007e-01 -4.71756200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:227.63, Y:-47.47, Z:-4.72 [[ 9.65608413e-01 2.59647706e-01 1.35447892e-02 2.27630167e+02] [-2.59624407e-01 9.65703394e-01 -3.48172000e-03 -4.74667445e+01] [-1.39842695e-02 -1.54579736e-04 9.99902203e-01 -4.71829995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47862385300002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:227.66, Y:-47.47, Z:-4.72 [[ 9.65659850e-01 2.59435182e-01 1.39441914e-02 2.27657186e+02] [-2.59410477e-01 9.65760510e-01 -3.58365304e-03 -4.74729075e+01] [-1.43964750e-02 -1.56679470e-04 9.99896353e-01 -4.71881548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50862385300002 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:227.68, Y:-47.48, Z:-4.72 [[ 9.65956543e-01 2.58295292e-01 1.45429947e-02 2.27683610e+02] [-2.58268341e-01 9.66066002e-01 -3.73418704e-03 -4.74781728e+01] [-1.50140156e-02 -1.48932708e-04 9.99887272e-01 -4.71897980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53862385300002 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:227.71, Y:-47.48, Z:-4.72 [[ 9.66157565e-01 2.57534486e-01 1.46815819e-02 2.27711344e+02] [-2.57506965e-01 9.66269098e-01 -3.76749218e-03 -4.74843079e+01] [-1.51566181e-02 -1.40618533e-04 9.99885122e-01 -4.71954809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56862385300002 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:227.74, Y:-47.49, Z:-4.72 [[ 9.66599554e-01 2.55879735e-01 1.45211309e-02 2.27737361e+02] [-2.55852642e-01 9.66708616e-01 -3.72525642e-03 -4.74903703e+01] [-1.49909200e-02 -1.14438521e-04 9.99887623e-01 -4.72040410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:227.76, Y:-47.50, Z:-4.72 [[ 9.66855420e-01 2.54913319e-01 1.44843625e-02 2.27764738e+02] [-2.54886274e-01 9.66963903e-01 -3.71446382e-03 -4.74974770e+01] [-1.49527220e-02 -1.00515718e-04 9.99888197e-01 -4.72113556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62862385300002 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:227.79, Y:-47.50, Z:-4.72 [[ 9.67101372e-01 2.53976423e-01 1.45228262e-02 2.27790871e+02] [-2.53949145e-01 9.67210406e-01 -3.72326116e-03 -4.75040111e+01] [-1.49922492e-02 -8.72883238e-05 9.99887606e-01 -4.72212774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65862385300002 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:227.82, Y:-47.51, Z:-4.72 [[ 9.67373393e-01 2.52969064e-01 1.39774945e-02 2.27818449e+02] [-2.52943709e-01 9.67474365e-01 -3.58220911e-03 -4.75107578e+01] [-1.44290557e-02 -7.01855295e-05 9.99895893e-01 -4.72243651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68862385300002 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:227.85, Y:-47.52, Z:-4.72 [[ 9.67875033e-01 2.51052739e-01 1.38000904e-02 2.27845043e+02] [-2.51027839e-01 9.67973409e-01 -3.53601614e-03 -4.75175805e+01] [-1.42458470e-02 -4.17851194e-05 9.99898522e-01 -4.72315000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71862385300003 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:227.87, Y:-47.52, Z:-4.72 [[ 9.68130428e-01 2.50072505e-01 1.36827417e-02 2.27872375e+02] [-2.50047959e-01 9.68227113e-01 -3.50377524e-03 -4.75243328e+01] [-1.41241994e-02 -2.92302282e-05 9.99900248e-01 -4.72333074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74862385300003 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:227.90, Y:-47.53, Z:-4.72 [[ 9.68531994e-01 2.48542442e-01 1.31313144e-02 2.27898944e+02] [-2.48519708e-01 9.68621007e-01 -3.36159622e-03 -4.75310006e+01] [-1.35547663e-02 -7.57693902e-06 9.99908130e-01 -4.71617514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77862385300003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:227.93, Y:-47.54, Z:-4.72 [[ 9.68744979e-01 2.47667994e-01 1.39186893e-02 2.27925854e+02] [-2.47642378e-01 9.68844964e-01 -3.56198757e-03 -4.75379614e+01] [-1.43672424e-02 3.80025411e-06 9.99896786e-01 -4.72463934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80862385300003 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:227.95, Y:-47.55, Z:-4.72 [[ 9.68955108e-01 2.46834044e-01 1.41050677e-02 2.27951959e+02] [-2.46807664e-01 9.69057766e-01 -3.60861381e-03 -4.75460390e+01] [-1.45593541e-02 1.53459790e-05 9.99894007e-01 -4.72457391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83862385300003 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:227.98, Y:-47.55, Z:-4.72 [[ 9.68998363e-01 2.46668688e-01 1.40260568e-02 2.27977688e+02] [-2.46642601e-01 9.69099870e-01 -3.58736744e-03 -4.75528542e+01] [-1.44775411e-02 1.67300359e-05 9.99895195e-01 -4.72149396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86862385300003 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:228.00, Y:-47.56, Z:-4.73 [[ 9.69031871e-01 2.46517041e-01 1.43729532e-02 2.28004705e+02] [-2.46489665e-01 9.69138457e-01 -3.67378751e-03 -4.75594654e+01] [-1.48350329e-02 1.72327480e-05 9.99889955e-01 -4.72600610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.898623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:228.03, Y:-47.57, Z:-4.73 [[ 9.68982720e-01 2.46704772e-01 1.44652625e-02 2.28030822e+02] [-2.46677080e-01 9.69090685e-01 -3.69634013e-03 -4.75657627e+01] [-1.49300559e-02 1.34410102e-05 9.99888540e-01 -4.72666254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.928623853 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:228.06, Y:-47.57, Z:-4.73 [[ 9.68678976e-01 2.47902631e-01 1.43292569e-02 2.28058199e+02] [-2.47875607e-01 9.68784953e-01 -3.66030297e-03 -4.75730263e+01] [-1.47893672e-02 -6.21473345e-06 9.99890631e-01 -4.72704240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.958623853 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:228.09, Y:-47.58, Z:-4.73 [[ 9.68443770e-01 2.48845048e-01 1.38854781e-02 2.28085476e+02] [-2.48819783e-01 9.68543309e-01 -3.54593429e-03 -4.75800818e+01] [-1.43310751e-02 -2.09436907e-05 9.99897305e-01 -4.72752041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.988623853 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:228.11, Y:-47.59, Z:-4.73 [[ 9.67755550e-01 2.51536539e-01 1.33628517e-02 2.28111551e+02] [-2.51513406e-01 9.67847801e-01 -3.41183121e-03 -4.75858143e+01] [-1.37914069e-02 -5.91177684e-05 9.99904892e-01 -4.72817810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.018623853 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:228.14, Y:-47.59, Z:-4.73 [[ 9.67404047e-01 2.52888186e-01 1.33031981e-02 2.28139044e+02] [-2.52865417e-01 9.67495508e-01 -3.39439915e-03 -4.75923388e+01] [-1.37291878e-02 -8.01632556e-05 9.99905747e-01 -4.72880753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.048623853 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:228.17, Y:-47.60, Z:-4.73 [[ 9.66985677e-01 2.54482210e-01 1.33231387e-02 2.28165238e+02] [-2.54459537e-01 9.67077450e-01 -3.39851491e-03 -4.75985192e+01] [-1.37493685e-02 -1.03884457e-04 9.99905468e-01 -4.72891726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.078623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:228.19, Y:-47.60, Z:-4.73 [[ 9.66166765e-01 2.57532799e-01 1.40939182e-02 2.28191564e+02] [-2.57507772e-01 9.66269544e-01 -3.59374780e-03 -4.76039531e+01] [-1.45440318e-02 -1.57133774e-04 9.99894218e-01 -4.72876917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.108623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:228.22, Y:-47.61, Z:-4.73 [[ 9.65828439e-01 2.58776432e-01 1.44977110e-02 2.28218360e+02] [-2.58750102e-01 9.65937226e-01 -3.69587601e-03 -4.76102211e+01] [-1.49602844e-02 -1.81702058e-04 9.99888072e-01 -4.72917515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.138623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:228.24, Y:-47.62, Z:-4.73 [[ 9.65553003e-01 2.59782274e-01 1.48515397e-02 2.28244928e+02] [-2.59754813e-01 9.65667193e-01 -3.78270787e-03 -4.76162603e+01] [-1.53243251e-02 -2.05353981e-04 9.99882555e-01 -4.72952155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.168623853 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:228.27, Y:-47.62, Z:-4.73 [[ 9.65275505e-01 2.60782014e-01 1.53603435e-02 2.28271953e+02] [-2.60752798e-01 9.65397684e-01 -3.91030268e-03 -4.76221390e+01] [-1.58485766e-02 -2.30733146e-04 9.99874377e-01 -4.72999863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19862385300002 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:228.30, Y:-47.63, Z:-4.73 [[ 9.64722783e-01 2.62773410e-01 1.61272085e-02 2.28298743e+02] [-2.62741543e-01 9.64857532e-01 -4.10183786e-03 -4.76273786e+01] [-1.66383125e-02 -2.80151206e-04 9.99861534e-01 -4.73064810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:228.33, Y:-47.63, Z:-4.73 [[ 9.64584881e-01 2.63270154e-01 1.62737040e-02 2.28326132e+02] [-2.63237812e-01 9.64722105e-01 -4.13692951e-03 -4.76335481e+01] [-1.67887321e-02 -2.93434582e-04 9.99859016e-01 -4.73128765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25862385300002 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:228.35, Y:-47.64, Z:-4.73 [[ 9.64303901e-01 2.64289746e-01 1.63986761e-02 2.28354023e+02] [-2.64257109e-01 9.64443274e-01 -4.16540015e-03 -4.76382686e+01] [-1.69164654e-02 -3.16755119e-04 9.99856856e-01 -4.73172624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28862385300002 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:228.38, Y:-47.64, Z:-4.73 [[ 9.64177458e-01 2.64771005e-01 1.60668684e-02 2.28380900e+02] [-2.64739800e-01 9.64311263e-01 -4.07760538e-03 -4.76437309e+01] [-1.65730938e-02 -3.22004335e-04 9.99862605e-01 -4.73268447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31862385300002 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:228.41, Y:-47.65, Z:-4.73 [[ 9.64112901e-01 2.65028718e-01 1.56873602e-02 2.28407929e+02] [-2.64999021e-01 9.64240466e-01 -3.98026147e-03 -4.76490793e+01] [-1.61812711e-02 -3.19713669e-04 9.99869024e-01 -4.73317718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34862385300002 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:228.44, Y:-47.65, Z:-4.73 [[ 9.64021563e-01 2.65401396e-01 1.49841555e-02 2.28435964e+02] [-2.65374390e-01 9.64137957e-01 -3.79903819e-03 -4.76525478e+01] [-1.54550631e-02 -3.14056394e-04 9.99880514e-01 -4.73398736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37862385300002 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:228.46, Y:-47.66, Z:-4.73 [[ 9.63923508e-01 2.65743654e-01 1.52243740e-02 2.28463397e+02] [-2.65715866e-01 9.64043673e-01 -3.85688643e-03 -4.76575709e+01] [-1.57019046e-02 -3.27614233e-04 9.99876664e-01 -4.73497977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40862385300002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:228.49, Y:-47.66, Z:-4.74 [[ 9.63778296e-01 2.66242269e-01 1.56987688e-02 2.28490261e+02] [-2.66212844e-01 9.63906081e-01 -3.97361893e-03 -4.76602731e+01] [-1.61900840e-02 -3.49526204e-04 9.99868871e-01 -4.73538243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43862385300002 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:228.52, Y:-47.66, Z:-4.74 [[ 9.63813607e-01 2.66112842e-01 1.57253488e-02 2.28517682e+02] [-2.66083332e-01 9.63941820e-01 -3.97836639e-03 -4.76648654e+01] [-1.62170157e-02 -3.49849546e-04 9.99868434e-01 -4.73652235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46862385300003 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:228.55, Y:-47.67, Z:-4.74 [[ 9.63916026e-01 2.65775117e-01 1.51486995e-02 2.28545435e+02] [-2.65747733e-01 9.64034997e-01 -3.82970290e-03 -4.76695570e+01] [-1.56217162e-02 -3.34220545e-04 9.99877918e-01 -4.73726127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49862385300003 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:228.57, Y:-47.67, Z:-4.74 [[ 9.64036924e-01 2.65353870e-01 1.48368426e-02 2.28571905e+02] [-2.65327602e-01 9.64151035e-01 -3.74766480e-03 -4.76742199e+01] [-1.52994145e-02 -3.23736627e-04 9.99882905e-01 -4.73803878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:228.60, Y:-47.68, Z:-4.74 [[ 9.64674539e-01 2.63043347e-01 1.45337945e-02 2.28599801e+02] [-2.63017889e-01 9.64783975e-01 -3.67041222e-03 -4.76769266e+01] [-1.49874495e-02 -2.81894722e-04 9.99887642e-01 -4.73945761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:228.63, Y:-47.68, Z:-4.74 [[ 9.65190393e-01 2.61156419e-01 1.43118661e-02 2.28627724e+02] [-2.61131566e-01 9.65296463e-01 -3.61161666e-03 -4.76811755e+01] [-1.47583906e-02 -2.51382297e-04 9.99891057e-01 -4.73972177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:228.66, Y:-47.68, Z:-4.74 [[ 9.66364576e-01 2.56788739e-01 1.41085074e-02 2.28656161e+02] [-2.56764162e-01 9.66467542e-01 -3.55751229e-03 -4.76844948e+01] [-1.45489436e-02 -1.84705223e-04 9.99894141e-01 -4.74053146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:228.68, Y:-47.69, Z:-4.74 [[ 9.67061349e-01 2.54140797e-01 1.43108981e-02 2.28682352e+02] [-2.54115272e-01 9.67167221e-01 -3.60500308e-03 -4.76898933e+01] [-1.47572099e-02 -1.50358610e-04 9.99891095e-01 -4.74191318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64862385300003 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:228.71, Y:-47.70, Z:-4.74 [[ 9.67776203e-01 2.51413293e-01 1.41625516e-02 2.28710115e+02] [-2.51388013e-01 9.67879819e-01 -3.56688772e-03 -4.76959712e+01] [-1.46044109e-02 -1.08346642e-04 9.99893344e-01 -4.74198709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.678623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:228.74, Y:-47.70, Z:-4.74 [[ 9.68537288e-01 2.48454990e-01 1.43401135e-02 2.28736697e+02] [-2.48428799e-01 9.68643440e-01 -3.60814557e-03 -4.77013957e+01] [-1.47869186e-02 -6.78736443e-05 9.99890665e-01 -4.74222151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.708623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:228.76, Y:-47.71, Z:-4.74 [[ 9.70116899e-01 2.42176098e-01 1.49645927e-02 2.28762972e+02] [-2.42146849e-01 9.70232311e-01 -3.76388174e-03 -4.77068226e+01] [-1.54306536e-02 2.77763041e-05 9.99880940e-01 -4.74315917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.738623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:228.79, Y:-47.71, Z:-4.74 [[ 9.70897168e-01 2.38998319e-01 1.54432425e-02 2.28790464e+02] [-2.38966782e-01 9.71019978e-01 -3.88324109e-03 -4.77132392e+01] [-1.59237851e-02 7.98057897e-05 9.99873205e-01 -4.74356496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.768623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:228.82, Y:-47.72, Z:-4.74 [[ 9.72237431e-01 2.33408857e-01 1.65735912e-02 2.28818360e+02] [-2.33371783e-01 9.72378667e-01 -4.16389713e-03 -4.77186037e+01] [-1.70876970e-02 1.80488107e-04 9.99853978e-01 -4.74338034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.798623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:228.85, Y:-47.73, Z:-4.74 [[ 9.72860569e-01 2.30785732e-01 1.67409620e-02 2.28845158e+02] [-2.30747580e-01 9.73004571e-01 -4.20232011e-03 -4.77251671e+01] [-1.72588681e-02 2.25335064e-04 9.99851029e-01 -4.74433822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.828623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:228.87, Y:-47.73, Z:-4.75 [[ 9.73465378e-01 2.28230138e-01 1.66181136e-02 2.28871027e+02] [-2.28192191e-01 9.73607176e-01 -4.17026410e-03 -4.77320263e+01] [-1.71312946e-02 2.67483959e-04 9.99853213e-01 -4.74520845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.858623853 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:228.90, Y:-47.74, Z:-4.75 [[ 9.74492565e-01 2.23811661e-01 1.65100309e-02 2.28896802e+02] [-2.23773597e-01 9.74632353e-01 -4.14170971e-03 -4.77406807e+01] [-1.70181732e-02 3.41556320e-04 9.99855122e-01 -4.74644852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.888623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:228.92, Y:-47.75, Z:-4.75 [[ 9.74868884e-01 2.22203123e-01 1.60134888e-02 2.28923091e+02] [-2.22167119e-01 9.75000330e-01 -4.01580261e-03 -4.77475751e+01] [-1.65054808e-02 3.57210333e-04 9.99863711e-01 -4.74699589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.918623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:228.95, Y:-47.76, Z:-4.75 [[ 9.75234538e-01 2.20645200e-01 1.52738905e-02 2.28950330e+02] [-2.20612274e-01 9.75354071e-01 -3.82905248e-03 -4.77551455e+01] [-1.57423133e-02 3.64616515e-04 9.99876016e-01 -4.74782771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:228.98, Y:-47.76, Z:-4.75 [[ 9.75259896e-01 2.20533075e-01 1.52741154e-02 2.28977991e+02] [-2.20500150e-01 9.75379428e-01 -3.82815528e-03 -4.77619233e+01] [-1.57422928e-02 3.65501600e-04 9.99876016e-01 -4.74837734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97862385300002 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:229.00, Y:-47.77, Z:-4.75 [[ 9.75337671e-01 2.20196125e-01 1.51688265e-02 2.29003768e+02] [-2.20163640e-01 9.75455551e-01 -3.79996909e-03 -4.77686428e+01] [-1.56332545e-02 3.66628956e-04 9.99877726e-01 -4.74901590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00862385300002 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:229.03, Y:-47.78, Z:-4.74 [[ 9.75266721e-01 2.20539960e-01 1.47291510e-02 2.29030559e+02] [-2.20509402e-01 9.75377878e-01 -3.68768853e-03 -4.77760129e+01] [-1.51797708e-02 3.48563605e-04 9.99884720e-01 -4.74357293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:229.06, Y:-47.78, Z:-4.75 [[ 9.74971393e-01 2.21811237e-01 1.51841374e-02 2.29056190e+02] [-2.21778931e-01 9.75089566e-01 -3.80066913e-03 -4.77838004e+01] [-1.56489251e-02 3.38021917e-04 9.99877491e-01 -4.75020419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:229.08, Y:-47.79, Z:-4.75 [[ 9.74785338e-01 2.22625420e-01 1.52140796e-02 2.29081907e+02] [-2.22593119e-01 9.74904004e-01 -3.80598307e-03 -4.77904293e+01] [-1.56795757e-02 3.23467051e-04 9.99877016e-01 -4.75065695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09862385300002 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:229.11, Y:-47.80, Z:-4.75 [[ 9.74283973e-01 2.24836841e-01 1.48031883e-02 2.29108807e+02] [-2.24806535e-01 9.74396386e-01 -3.70195097e-03 -4.77980662e+01] [-1.52565081e-02 2.78898033e-04 9.99883574e-01 -4.75161889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12862385300002 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:229.13, Y:-47.80, Z:-4.74 [[ 9.73990890e-01 2.26150727e-01 1.40568419e-02 2.29134777e+02] [-2.26123550e-01 9.74092290e-01 -3.51442426e-03 -4.78046203e+01] [-1.44874509e-02 2.44434218e-04 9.99895021e-01 -4.74271958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:229.16, Y:-47.81, Z:-4.75 [[ 9.73717173e-01 2.27273065e-01 1.48936282e-02 2.29161390e+02] [-2.27242709e-01 9.73831041e-01 -3.72225853e-03 -4.78114280e+01] [-1.53498465e-02 2.39958649e-04 9.99882155e-01 -4.75322717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:229.19, Y:-47.82, Z:-4.75 [[ 9.73444237e-01 2.28438469e-01 1.49058463e-02 2.29188770e+02] [-2.28408215e-01 9.73558328e-01 -3.72425903e-03 -4.78185499e+01] [-1.53624748e-02 2.20740741e-04 9.99881966e-01 -4.75425463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21862385300003 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:229.21, Y:-47.83, Z:-4.75 [[ 9.72895908e-01 2.30776216e-01 1.46931954e-02 2.29214273e+02] [-2.30747098e-01 9.73006837e-01 -3.67034539e-03 -4.78267102e+01] [-1.51436080e-02 1.80451811e-04 9.99885313e-01 -4.75473735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:229.24, Y:-47.83, Z:-4.76 [[ 9.72610332e-01 2.31957340e-01 1.49978048e-02 2.29240086e+02] [-2.31927175e-01 9.72725946e-01 -3.74428877e-03 -4.78340736e+01] [-1.54572692e-02 1.63335444e-04 9.99880516e-01 -4.75518131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27862385300003 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:229.27, Y:-47.84, Z:-4.76 [[ 9.72089109e-01 2.34107314e-01 1.53794970e-02 2.29266106e+02] [-2.34075884e-01 9.72210753e-01 -3.83829044e-03 -4.78418475e+01] [-1.58506843e-02 1.31190971e-04 9.99874361e-01 -4.75626746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30862385300003 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:229.29, Y:-47.85, Z:-4.75 [[ 9.71912113e-01 2.34878378e-01 1.47983712e-02 2.29293192e+02] [-2.34849379e-01 9.72024760e-01 -3.69252109e-03 -4.78489562e+01] [-1.52516766e-02 1.13417695e-04 9.99883680e-01 -4.74682864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33862385300003 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:229.32, Y:-47.86, Z:-4.75 [[ 9.71768092e-01 2.35464503e-01 1.49413288e-02 2.29320048e+02] [-2.35435052e-01 9.71882944e-01 -3.72542891e-03 -4.78560623e+01] [-1.53984289e-02 1.02540414e-04 9.99881432e-01 -4.74631241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36862385300003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:229.35, Y:-47.86, Z:-4.76 [[ 9.71604865e-01 2.36100780e-01 1.55051122e-02 2.29345904e+02] [-2.36069202e-01 9.71728570e-01 -3.86249726e-03 -4.78643360e+01] [-1.59786991e-02 9.25416680e-05 9.99872328e-01 -4.75767778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39862385300003 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:229.37, Y:-47.87, Z:-4.76 [[ 9.71630965e-01 2.35959780e-01 1.60078274e-02 2.29372972e+02] [-2.35926125e-01 9.71762817e-01 -3.98629513e-03 -4.78718605e+01] [-1.64964168e-02 9.65430824e-05 9.99863920e-01 -4.75883053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.428623853 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:229.40, Y:-47.88, Z:-4.75 [[ 9.71696526e-01 2.35698781e-01 1.58727948e-02 2.29398692e+02] [-2.35665674e-01 9.71826155e-01 -3.95157614e-03 -4.78785849e+01] [-1.63569788e-02 9.90599279e-05 9.99866211e-01 -4.75444491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.458623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:229.43, Y:-47.89, Z:-4.76 [[ 9.71747090e-01 2.35476604e-01 1.60736192e-02 2.29425617e+02] [-2.35442642e-01 9.71880012e-01 -4.00049594e-03 -4.78858213e+01] [-1.65636525e-02 1.03054909e-04 9.99862808e-01 -4.75920178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.488623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:229.45, Y:-47.89, Z:-4.76 [[ 9.72035859e-01 2.34288411e-01 1.59759092e-02 2.29452637e+02] [-2.34254755e-01 9.72167129e-01 -3.97285185e-03 -4.78946192e+01] [-1.64620469e-02 1.19321775e-04 9.99864484e-01 -4.76031827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.518623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:229.48, Y:-47.90, Z:-4.76 [[ 9.72241737e-01 2.33429008e-01 1.60282117e-02 2.29478731e+02] [-2.33395034e-01 9.72373838e-01 -3.98464304e-03 -4.79029004e+01] [-1.65155450e-02 1.33131260e-04 9.99863600e-01 -4.76108919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.548623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:229.51, Y:-47.91, Z:-4.75 [[ 9.72745431e-01 2.31319482e-01 1.60506460e-02 2.29505133e+02] [-2.31285151e-01 9.72877828e-01 -3.98873177e-03 -4.79117841e+01] [-1.65379890e-02 1.67744522e-04 9.99863224e-01 -4.75239832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.578623853 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:229.53, Y:-47.92, Z:-4.75 [[ 9.73003862e-01 2.30203318e-01 1.64291807e-02 2.29531704e+02] [-2.30167208e-01 9.73142537e-01 -4.08164009e-03 -4.79197730e+01] [-1.69275417e-02 1.89992912e-04 9.99856701e-01 -4.75219804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.608623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:229.56, Y:-47.93, Z:-4.76 [[ 9.73308567e-01 2.28846168e-01 1.73165970e-02 2.29557491e+02] [-2.28805862e-01 9.73462573e-01 -4.30073425e-03 -4.79282087e+01] [-1.78412656e-02 2.23802590e-04 9.99840807e-01 -4.76196962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.638623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:229.58, Y:-47.94, Z:-4.76 [[ 9.73773891e-01 2.26810430e-01 1.79286823e-02 2.29583820e+02] [-2.26766909e-01 9.73938888e-01 -4.45110140e-03 -4.79384599e+01] [-1.84709971e-02 2.68734460e-04 9.99829360e-01 -4.76221662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.668623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:229.61, Y:-47.95, Z:-4.76 [[ 9.74038259e-01 2.25673707e-01 1.79122521e-02 2.29611032e+02] [-2.25630096e-01 9.74202902e-01 -4.44578564e-03 -4.79467336e+01] [-1.84534649e-02 2.88822147e-04 9.99829679e-01 -4.76286500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:229.64, Y:-47.96, Z:-4.76 [[ 9.74287362e-01 2.24623238e-01 1.75652242e-02 2.29637790e+02] [-2.24581152e-01 9.74445642e-01 -4.35847369e-03 -4.79550239e+01] [-1.80953706e-02 3.01587556e-04 9.99836220e-01 -4.76367507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72862385300002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:229.66, Y:-47.97, Z:-4.76 [[ 9.74737537e-01 2.22646979e-01 1.77498534e-02 2.29662940e+02] [-2.22603698e-01 9.74899075e-01 -4.40306706e-03 -4.79656249e+01] [-1.82846452e-02 3.40651744e-04 9.99832764e-01 -4.76448165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75862385300002 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:229.69, Y:-47.97, Z:-4.77 [[ 9.74894822e-01 2.21966362e-01 1.76357348e-02 2.29688059e+02] [-2.21923550e-01 9.75054261e-01 -4.37336646e-03 -4.79744768e+01] [-1.81665386e-02 3.49787447e-04 9.99834914e-01 -4.76571124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78862385300002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:229.71, Y:-47.98, Z:-4.77 [[ 9.75004887e-01 2.21505963e-01 1.73371992e-02 2.29714904e+02] [-2.21464539e-01 9.75158954e-01 -4.29797436e-03 -4.79838696e+01] [-1.78585520e-02 3.50971165e-04 9.99840462e-01 -4.76638151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:229.74, Y:-47.99, Z:-4.77 [[ 9.75046788e-01 2.21327657e-01 1.72577512e-02 2.29739710e+02] [-2.21286604e-01 9.75199439e-01 -4.27713325e-03 -4.79946790e+01] [-1.77763971e-02 3.51495873e-04 9.99841926e-01 -4.76723972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84862385300002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:229.77, Y:-48.00, Z:-4.77 [[ 9.74936120e-01 2.21855646e-01 1.67222748e-02 2.29766203e+02] [-2.21817201e-01 9.75079465e-01 -4.14312933e-03 -4.80038324e+01] [-1.72247234e-02 3.29998232e-04 9.99851589e-01 -4.76762631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:229.79, Y:-48.01, Z:-4.77 [[ 9.74854262e-01 2.22256433e-01 1.61631265e-02 2.29791359e+02] [-2.22220587e-01 9.74988195e-01 -4.00368463e-03 -4.80126263e+01] [-1.66487022e-02 3.11229577e-04 9.99861352e-01 -4.76844562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:229.82, Y:-48.02, Z:-4.77 [[ 9.74482190e-01 2.23936340e-01 1.53940703e-02 2.29815963e+02] [-2.23904063e-01 9.74603737e-01 -3.81132664e-03 -4.80242128e+01] [-1.58566129e-02 2.67275051e-04 9.99874240e-01 -4.76904589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93862385300002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:229.84, Y:-48.03, Z:-4.77 [[ 9.74172004e-01 2.25278227e-01 1.54475697e-02 2.29842320e+02] [-2.25245913e-01 9.74294442e-01 -3.82336253e-03 -4.80331508e+01] [-1.59118016e-02 2.45110793e-04 9.99873369e-01 -4.76955237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:229.87, Y:-48.04, Z:-4.77 [[ 9.73121928e-01 2.29742817e-01 1.58729641e-02 2.29867778e+02] [-2.29709312e-01 9.73251359e-01 -3.92743138e-03 -4.80439988e+01] [-1.63506831e-02 1.75701924e-04 9.99866303e-01 -4.76972227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99862385300003 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:229.89, Y:-48.05, Z:-4.76 [[ 9.72497809e-01 2.32389349e-01 1.55949451e-02 2.29894021e+02] [-2.32357370e-01 9.72622832e-01 -3.85726943e-03 -4.80513121e+01] [-1.60643880e-02 1.27585637e-04 9.99870951e-01 -4.75923235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02862385300003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:229.92, Y:-48.06, Z:-4.77 [[ 9.71675339e-01 2.35739629e-01 1.65487941e-02 2.29920242e+02] [-2.35704129e-01 9.71816249e-01 -4.09170814e-03 -4.80590846e+01] [-1.70469647e-02 7.51928079e-05 9.99854687e-01 -4.76999250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:229.95, Y:-48.07, Z:-4.77 [[ 9.70769856e-01 2.39419010e-01 1.68648933e-02 2.29947588e+02] [-2.39382714e-01 9.70916339e-01 -4.16872892e-03 -4.80664897e+01] [-1.73724734e-02 9.71244450e-06 9.99849087e-01 -4.77032153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:229.97, Y:-48.07, Z:-4.77 [[ 9.68893333e-01 2.46855191e-01 1.75563347e-02 2.29974610e+02] [-2.46817099e-01 9.69052371e-01 -4.33842905e-03 -4.80741727e+01] [-1.80839715e-02 -1.29728620e-04 9.99836463e-01 -4.77118678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.00, Y:-48.08, Z:-4.77 [[ 9.67966758e-01 2.50477679e-01 1.73576221e-02 2.30001031e+02] [-2.50441045e-01 9.68122355e-01 -4.28826434e-03 -4.80808727e+01] [-1.78784165e-02 -1.96163676e-04 9.99840149e-01 -4.77141645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:230.03, Y:-48.09, Z:-4.77 [[ 9.66247301e-01 2.57045604e-01 1.71380037e-02 2.30028704e+02] [-2.57010949e-01 9.66399223e-01 -4.23247407e-03 -4.80869915e+01] [-1.76500924e-02 -3.15037952e-04 9.99844175e-01 -4.77232860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.178623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:230.06, Y:-48.09, Z:-4.77 [[ 9.65553784e-01 2.59672745e-01 1.66119163e-02 2.30055580e+02] [-2.59640594e-01 9.65696609e-01 -4.10135155e-03 -4.80927179e+01] [-1.71070804e-02 -3.53052286e-04 9.99853601e-01 -4.77269366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.208623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:230.08, Y:-48.10, Z:-4.77 [[ 9.64966228e-01 2.61878291e-01 1.61226562e-02 2.30083491e+02] [-2.61848337e-01 9.65100832e-01 -3.97915156e-03 -4.80981452e+01] [-1.66020423e-02 -3.81943842e-04 9.99862104e-01 -4.77335063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.238623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.11, Y:-48.10, Z:-4.77 [[ 9.64236147e-01 2.64549025e-01 1.62008151e-02 2.30110842e+02] [-2.64519176e-01 9.64372142e-01 -3.99724493e-03 -4.81022037e+01] [-1.66810820e-02 -4.31138216e-04 9.99860768e-01 -4.77428251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.14, Y:-48.11, Z:-4.78 [[ 9.64153714e-01 2.64845806e-01 1.62577769e-02 2.30138475e+02] [-2.64815809e-01 9.64290675e-01 -4.01010444e-03 -4.81083076e+01] [-1.67392820e-02 -4.38959265e-04 9.99859792e-01 -4.77563494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.298623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.17, Y:-48.11, Z:-4.78 [[ 9.64380160e-01 2.63992815e-01 1.66943254e-02 2.30165327e+02] [-2.63961079e-01 9.64524548e-01 -4.11652742e-03 -4.81136150e+01] [-1.71888203e-02 -4.36754765e-04 9.99852166e-01 -4.77598032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.328623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:230.19, Y:-48.12, Z:-4.78 [[ 9.64658156e-01 2.62976869e-01 1.66676177e-02 2.30192251e+02] [-2.62945108e-01 9.64802047e-01 -4.10847961e-03 -4.81196804e+01] [-1.71613868e-02 -4.19390160e-04 9.99852645e-01 -4.77690350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.358623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:230.22, Y:-48.12, Z:-4.77 [[ 9.65119180e-01 2.61331788e-01 1.58324236e-02 2.30219871e+02] [-2.61302928e-01 9.65248962e-01 -3.90150471e-03 -4.81249033e+01] [-1.63018177e-02 -3.71641619e-04 9.99867047e-01 -4.76956342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.388623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:230.25, Y:-48.13, Z:-4.78 [[ 9.66046377e-01 2.57877515e-01 1.59243749e-02 2.30247240e+02] [-2.57847868e-01 9.66177565e-01 -3.92298141e-03 -4.81306674e+01] [-1.63974225e-02 -3.16284129e-04 9.99865503e-01 -4.77885691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.418623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.27, Y:-48.14, Z:-4.78 [[ 9.66621113e-01 2.55736866e-01 1.55653351e-02 2.30273700e+02] [-2.55708278e-01 9.66746389e-01 -3.83360918e-03 -4.81366870e+01] [-1.60281267e-02 -2.74537455e-04 9.99871504e-01 -4.77908757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:230.30, Y:-48.14, Z:-4.78 [[ 9.67275682e-01 2.53244620e-01 1.56498532e-02 2.30301067e+02] [-2.53215432e-01 9.67402246e-01 -3.85211813e-03 -4.81428643e+01] [-1.61152313e-02 -2.36724142e-04 9.99870113e-01 -4.78010082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:230.33, Y:-48.15, Z:-4.78 [[ 9.68595723e-01 2.48133223e-01 1.58817025e-02 2.30327495e+02] [-2.48102492e-01 9.68725905e-01 -3.90820012e-03 -4.81489000e+01] [-1.63547709e-02 -1.54824042e-04 9.99866240e-01 -4.78025923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50862385300002 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:230.35, Y:-48.16, Z:-4.78 [[ 9.69278830e-01 2.45443864e-01 1.59955830e-02 2.30354234e+02] [-2.45412361e-01 9.69410799e-01 -3.93398491e-03 -4.81552994e+01] [-1.64718634e-02 -1.12385504e-04 9.99864323e-01 -4.78090716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53862385300002 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:230.38, Y:-48.16, Z:-4.78 [[ 9.70561122e-01 2.40319224e-01 1.60554796e-02 2.30380951e+02] [-2.40286801e-01 9.70693911e-01 -3.94763613e-03 -4.81616982e+01] [-1.65336491e-02 -2.64976571e-05 9.99863310e-01 -4.78136874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56862385300002 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:230.41, Y:-48.17, Z:-4.78 [[ 9.71152508e-01 2.37919089e-01 1.60410113e-02 2.30408555e+02] [-2.37886435e-01 9.71284977e-01 -3.94174829e-03 -4.81682788e+01] [-1.65182105e-02 1.20997450e-05 9.99863565e-01 -4.78145128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59862385300002 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:230.44, Y:-48.17, Z:-4.78 [[ 9.71671424e-01 2.35797433e-01 1.59441344e-02 2.30435470e+02] [-2.35764905e-01 9.71802227e-01 -3.91674232e-03 -4.81745419e+01] [-1.64181031e-02 4.67192583e-05 9.99865213e-01 -4.78206059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62862385300002 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:230.46, Y:-48.18, Z:-4.78 [[ 9.72461384e-01 2.32501528e-01 1.61831947e-02 2.30462210e+02] [-2.32467582e-01 9.72596026e-01 -3.97422059e-03 -4.81815984e+01] [-1.66637232e-02 1.02707927e-04 9.99861145e-01 -4.78239279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65862385300002 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:230.49, Y:-48.19, Z:-4.78 [[ 9.72831368e-01 2.30967919e-01 1.59043944e-02 2.30488304e+02] [-2.30934946e-01 9.72961358e-01 -3.90460074e-03 -4.81887222e+01] [-1.63761987e-02 1.25637612e-04 9.99865893e-01 -4.78331142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68862385300002 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:230.51, Y:-48.20, Z:-4.78 [[ 9.73167515e-01 2.29571610e-01 1.55519829e-02 2.30514159e+02] [-2.29539925e-01 9.73291763e-01 -3.81674549e-03 -4.81957979e+01] [-1.60128333e-02 1.44531722e-04 9.99871776e-01 -4.78393555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71862385300003 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:230.54, Y:-48.20, Z:-4.78 [[ 9.73639048e-01 2.27607826e-01 1.48889882e-02 2.30541481e+02] [-2.27578576e-01 9.73752869e-01 -3.65275137e-03 -4.82033363e+01] [-1.53295898e-02 1.68046632e-04 9.99882481e-01 -4.78497728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74862385300003 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:230.57, Y:-48.21, Z:-4.79 [[ 9.73762070e-01 2.27118759e-01 1.43003653e-02 2.30568871e+02] [-2.27091738e-01 9.73867055e-01 -3.50734139e-03 -4.82104040e+01] [-1.47232377e-02 1.67821210e-04 9.99891593e-01 -4.78547043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77862385300003 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:230.60, Y:-48.22, Z:-4.79 [[ 9.73821138e-01 2.26884794e-01 1.39886162e-02 2.30595417e+02] [-2.26858928e-01 9.73921590e-01 -3.42989609e-03 -4.82171025e+01] [-1.44020066e-02 1.66662828e-04 9.99896272e-01 -4.78572993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80862385300003 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:230.62, Y:-48.22, Z:-4.79 [[ 9.73649595e-01 2.27642112e-01 1.36211425e-02 2.30622511e+02] [-2.27617679e-01 9.73744857e-01 -3.33854913e-03 -4.82234771e+01] [-1.40235118e-02 1.50164176e-04 9.99901654e-01 -4.78612919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83862385300003 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:230.65, Y:-48.23, Z:-4.79 [[ 9.73663039e-01 2.27584586e-01 1.36213937e-02 2.30650213e+02] [-2.27560162e-01 9.73758304e-01 -3.33752383e-03 -4.82301333e+01] [-1.40235142e-02 1.49937047e-04 9.99901654e-01 -4.78667897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86862385300003 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:230.68, Y:-48.24, Z:-4.78 [[ 9.73533581e-01 2.28139538e-01 1.35910769e-02 2.30677597e+02] [-2.28115287e-01 9.73628436e-01 -3.32931556e-03 -4.82362823e+01] [-1.39922074e-02 1.40868101e-04 9.99902094e-01 -4.78302201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89862385300003 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:230.70, Y:-48.24, Z:-4.79 [[ 9.73093108e-01 2.29952601e-01 1.45466266e-02 2.30703691e+02] [-2.29925040e-01 9.73201822e-01 -3.56223702e-03 -4.82443561e+01] [-1.49759492e-02 1.21754579e-04 9.99887847e-01 -4.78733619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.928623853 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:230.73, Y:-48.25, Z:-4.79 [[ 9.72901044e-01 2.30731879e-01 1.50451899e-02 2.30730193e+02] [-2.30702511e-01 9.73017362e-01 -3.68294243e-03 -4.82516072e+01] [-1.54890032e-02 1.12175457e-04 9.99880032e-01 -4.78750260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.958623853 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:230.76, Y:-48.26, Z:-4.79 [[ 9.72671191e-01 2.31656886e-01 1.56793165e-02 2.30756801e+02] [-2.31625133e-01 9.72797552e-01 -3.83670235e-03 -4.82585963e+01] [-1.61415992e-02 1.00126061e-04 9.99869711e-01 -4.78805719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.988623853 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:230.78, Y:-48.26, Z:-4.79 [[ 9.72529750e-01 2.32238574e-01 1.58471118e-02 2.30784206e+02] [-2.32206235e-01 9.72658849e-01 -3.87657511e-03 -4.82649277e+01] [-1.63141238e-02 9.02864589e-05 9.99866912e-01 -4.78876545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.018623853 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:230.81, Y:-48.27, Z:-4.79 [[ 9.72419681e-01 2.32737870e-01 1.52658828e-02 2.30809841e+02] [-2.32707939e-01 9.72539499e-01 -3.73332033e-03 -4.82717457e+01] [-1.57155590e-02 7.78620539e-05 9.99876500e-01 -4.78928013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.048623853 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:230.84, Y:-48.28, Z:-4.79 [[ 9.72481617e-01 2.32521040e-01 1.46106243e-02 2.30836722e+02] [-2.32493617e-01 9.72591363e-01 -3.57178801e-03 -4.82790084e+01] [-1.50406829e-02 7.66212796e-05 9.99886880e-01 -4.79001162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.078623853 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:230.86, Y:-48.29, Z:-4.79 [[ 9.72498737e-01 2.32490167e-01 1.39473704e-02 2.30862455e+02] [-2.32465188e-01 9.72598744e-01 -3.40873099e-03 -4.82860312e+01] [-1.43576913e-02 7.27085136e-05 9.99896920e-01 -4.79111252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.108623853 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:230.89, Y:-48.29, Z:-4.79 [[ 9.72672643e-01 2.31835252e-01 1.26627234e-02 2.30888657e+02] [-2.31814616e-01 9.72755062e-01 -3.09408134e-03 -4.82938144e+01] [-1.30350454e-02 7.41239173e-05 9.99915037e-01 -4.79224471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.138623853 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:230.92, Y:-48.30, Z:-4.79 [[ 9.72842114e-01 2.31144617e-01 1.22632820e-02 2.30915118e+02] [-2.31125230e-01 9.72919400e-01 -2.99467378e-03 -4.83009248e+01] [-1.26233877e-02 7.89908848e-05 9.99920319e-01 -4.79266339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.168623853 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:230.94, Y:-48.31, Z:-4.79 [[ 9.73165423e-01 2.29755309e-01 1.27105698e-02 2.30941517e+02] [-2.29734379e-01 9.73248421e-01 -3.10269436e-03 -4.83093424e+01] [-1.30834025e-02 9.93800058e-05 9.99914404e-01 -4.79301050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19862385300002 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:230.97, Y:-48.32, Z:-4.79 [[ 9.73319156e-01 2.29086705e-01 1.30039162e-02 2.30968431e+02] [-2.29064752e-01 9.73406015e-01 -3.17330912e-03 -4.83167211e+01] [-1.33850532e-02 1.09903710e-04 9.99910410e-01 -4.79310486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22862385300002 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:231.00, Y:-48.32, Z:-4.79 [[ 9.73381445e-01 2.28810822e-01 1.31973577e-02 2.30995381e+02] [-2.28788199e-01 9.73470901e-01 -3.21951877e-03 -4.83245608e+01] [-1.35839044e-02 1.14420146e-04 9.99907728e-01 -4.79309559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25862385300002 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:231.02, Y:-48.33, Z:-4.79 [[ 9.73446362e-01 2.28522582e-01 1.34018203e-02 2.31021977e+02] [-2.28499240e-01 9.73538605e-01 -3.26840449e-03 -4.83319054e+01] [-1.37940937e-02 1.19310712e-04 9.99904850e-01 -4.79349218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28862385300002 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:231.05, Y:-48.34, Z:-4.79 [[ 9.73511471e-01 2.28241374e-01 1.34644249e-02 2.31049068e+02] [-2.28217800e-01 9.73604571e-01 -3.28264120e-03 -4.83409991e+01] [-1.38582602e-02 1.22867424e-04 9.99903962e-01 -4.79385100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31862385300002 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:231.08, Y:-48.35, Z:-4.79 [[ 9.73609409e-01 2.27818756e-01 1.35400765e-02 2.31075619e+02] [-2.27794890e-01 9.73703547e-01 -3.30004036e-03 -4.83489506e+01] [-1.39358316e-02 1.28590105e-04 9.99902883e-01 -4.79446276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34862385300002 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:231.10, Y:-48.36, Z:-4.79 [[ 9.73960995e-01 2.26306956e-01 1.36066774e-02 2.31102475e+02] [-2.26282721e-01 9.74056025e-01 -3.31522361e-03 -4.83586657e+01] [-1.40039243e-02 1.49942489e-04 9.99901929e-01 -4.79469519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37862385300002 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:231.13, Y:-48.37, Z:-4.80 [[ 9.74223270e-01 2.25181759e-01 1.34980112e-02 2.31129459e+02] [-2.25157816e-01 9.74316760e-01 -3.28772468e-03 -4.83670767e+01] [-1.38916742e-02 1.63795161e-04 9.99903493e-01 -4.79527758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40862385300002 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:231.16, Y:-48.38, Z:-4.80 [[ 9.74856338e-01 2.22421964e-01 1.35495402e-02 2.31155870e+02] [-2.22397588e-01 9.74950475e-01 -3.29910183e-03 -4.83783874e+01] [-1.39439233e-02 2.02765277e-04 9.99902758e-01 -4.79574414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43862385300002 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:231.18, Y:-48.39, Z:-4.80 [[ 9.75114642e-01 2.21285263e-01 1.35745075e-02 2.31182096e+02] [-2.21260696e-01 9.75209098e-01 -3.30454213e-03 -4.83866849e+01] [-1.39692296e-02 2.18802443e-04 9.99902402e-01 -4.79597376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46862385300003 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:231.21, Y:-48.39, Z:-4.80 [[ 9.75322575e-01 2.20355895e-01 1.37532992e-02 2.31208780e+02] [-2.20330596e-01 9.75419512e-01 -3.34721266e-03 -4.83947875e+01] [-1.41528144e-02 2.34339462e-04 9.99899816e-01 -4.79627520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49862385300003 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:231.24, Y:-48.41, Z:-4.80 [[ 9.75629069e-01 2.18947024e-01 1.44955239e-02 2.31236114e+02] [-2.18918784e-01 9.75736711e-01 -3.52659613e-03 -4.84053054e+01] [-1.49159526e-02 2.67307224e-04 9.99888715e-01 -4.79627698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52862385300003 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:231.26, Y:-48.41, Z:-4.78 [[ 9.75657303e-01 2.18838625e-01 1.42296707e-02 2.31264427e+02] [-2.18811410e-01 9.75761030e-01 -3.46119960e-03 -4.84138784e+01] [-1.46422022e-02 2.63330372e-04 9.99892763e-01 -4.78497930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55862385300003 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:231.29, Y:-48.42, Z:-4.80 [[ 9.75638498e-01 2.18875106e-01 1.49402113e-02 2.31291477e+02] [-2.18845122e-01 9.75752844e-01 -3.63321213e-03 -4.84234159e+01] [-1.53731734e-02 2.75109242e-04 9.99881788e-01 -4.79671365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58862385300003 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:231.32, Y:-48.44, Z:-4.80 [[ 9.75344340e-01 2.20207436e-01 1.45637844e-02 2.31317386e+02] [-2.20179102e-01 9.75453035e-01 -3.54099733e-03 -4.84350558e+01] [-1.49860417e-02 2.47050719e-04 9.99887672e-01 -4.79709464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61862385300003 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:231.34, Y:-48.44, Z:-4.80 [[ 9.75114030e-01 2.21243131e-01 1.42865390e-02 2.31344226e+02] [-2.21215990e-01 9.75218656e-01 -3.47268273e-03 -4.84444123e+01] [-1.47008066e-02 2.25850781e-04 9.99891912e-01 -4.79787821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64862385300003 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:231.37, Y:-48.45, Z:-4.80 [[ 9.74487423e-01 2.24035152e-01 1.35097237e-02 2.31371417e+02] [-2.24011163e-01 9.74581049e-01 -3.28304030e-03 -4.84546534e+01] [-1.39018371e-02 1.72952575e-04 9.99903350e-01 -4.79820559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.678623853 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:231.40, Y:-48.46, Z:-4.80 [[ 9.74100269e-01 2.25729093e-01 1.32303606e-02 2.31398083e+02] [-2.25706249e-01 9.74190102e-01 -3.21455883e-03 -4.84621547e+01] [-1.36145058e-02 1.45127542e-04 9.99907308e-01 -4.79894064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.708623853 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:231.43, Y:-48.47, Z:-4.80 [[ 9.73713588e-01 2.27393434e-01 1.31937590e-02 2.31425911e+02] [-2.27370881e-01 9.73802964e-01 -3.20474880e-03 -4.84700816e+01] [-1.35768605e-02 1.20630831e-04 9.99907823e-01 -4.79957889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.738623853 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:231.45, Y:-48.48, Z:-4.80 [[ 9.73323847e-01 2.29076671e-01 1.28284287e-02 2.31452722e+02] [-2.29055504e-01 9.73408378e-01 -3.11544941e-03 -4.84784937e+01] [-1.32009767e-02 9.39190068e-05 9.99912859e-01 -4.80000195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.768623853 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:231.48, Y:-48.49, Z:-4.80 [[ 9.72593186e-01 2.32189329e-01 1.22723290e-02 2.31479429e+02] [-2.32170215e-01 9.72670609e-01 -2.97957548e-03 -4.84890637e+01] [-1.26287594e-02 4.86455402e-05 9.99920253e-01 -4.80066345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.798623853 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:231.51, Y:-48.50, Z:-4.80 [[ 9.72034691e-01 2.34489508e-01 1.27761533e-02 2.31505309e+02] [-2.34469000e-01 9.72118650e-01 -3.10127904e-03 -4.84983314e+01] [-1.31471543e-02 1.89389391e-05 9.99913572e-01 -4.80078666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.828623853 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:231.53, Y:-48.51, Z:-4.80 [[ 9.71841073e-01 2.35283105e-01 1.29146736e-02 2.31533255e+02] [-2.35262232e-01 9.71926880e-01 -3.13398371e-03 -4.85067719e+01] [-1.32894919e-02 7.39914455e-06 9.99911691e-01 -4.80118925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.858623853 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:231.56, Y:-48.51, Z:-4.80 [[ 9.71665751e-01 2.35992740e-01 1.31565754e-02 2.31560409e+02] [-2.35971150e-01 9.71754818e-01 -3.19210352e-03 -4.85149462e+01] [-1.35382788e-02 -2.91455902e-06 9.99908353e-01 -4.80169563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.888623853 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:231.59, Y:-48.52, Z:-4.80 [[ 9.71384881e-01 2.37112843e-01 1.37445785e-02 2.31588095e+02] [-2.37089407e-01 9.71482115e-01 -3.33372479e-03 -4.85242985e+01] [-1.41430811e-02 -2.03641117e-05 9.99899981e-01 -4.80156410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.918623853 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:231.62, Y:-48.53, Z:-4.80 [[ 9.71260166e-01 2.37630242e-01 1.36219849e-02 2.31615337e+02] [-2.37607282e-01 9.71355685e-01 -3.30336817e-03 -4.85315785e+01] [-1.40167727e-02 -2.82528933e-05 9.99901760e-01 -4.80158721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94862385300002 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:231.64, Y:-48.54, Z:-4.80 [[ 9.71067587e-01 2.38432802e-01 1.33244375e-02 2.31643393e+02] [-2.38410922e-01 9.71158997e-01 -3.23032199e-03 -4.85389572e+01] [-1.37103620e-02 -3.98304363e-05 9.99906008e-01 -4.80209500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97862385300002 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:231.67, Y:-48.55, Z:-4.80 [[ 9.70842706e-01 2.39366844e-01 1.29597167e-02 2.31671285e+02] [-2.39346237e-01 9.70929200e-01 -3.14127411e-03 -4.85460138e+01] [-1.33348843e-02 -5.21763842e-05 9.99911085e-01 -4.80300972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00862385300002 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:231.70, Y:-48.55, Z:-4.80 [[ 9.70406981e-01 2.41137160e-01 1.27734711e-02 2.31697425e+02] [-2.41117302e-01 9.70491043e-01 -3.09556817e-03 -4.85542664e+01] [-1.31429958e-02 -7.59439243e-05 9.99913624e-01 -4.80370544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03862385300002 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:231.73, Y:-48.56, Z:-4.80 [[ 9.70279369e-01 2.41656521e-01 1.26519427e-02 2.31725131e+02] [-2.41637094e-01 9.70361849e-01 -3.06524959e-03 -4.85616848e+01] [-1.30177000e-02 -8.30302255e-05 9.99915263e-01 -4.80390324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06862385300002 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:231.75, Y:-48.57, Z:-4.80 [[ 9.70071753e-01 2.42499058e-01 1.24499228e-02 2.31752288e+02] [-2.42480323e-01 9.70151637e-01 -3.01578085e-03 -4.85685027e+01] [-1.28096370e-02 -9.33374956e-05 9.99917949e-01 -4.80432610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09862385300002 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:231.78, Y:-48.57, Z:-4.80 [[ 9.70079115e-01 2.42482872e-01 1.21888297e-02 2.31780752e+02] [-2.42464923e-01 9.70155683e-01 -2.95172598e-03 -4.85746474e+01] [-1.25408054e-02 -9.19559439e-05 9.99921357e-01 -4.80471075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12862385300002 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:231.81, Y:-48.58, Z:-4.80 [[ 9.70106470e-01 2.42394219e-01 1.17677350e-02 2.31808480e+02] [-2.42377488e-01 9.70177837e-01 -2.84928600e-03 -4.85807285e+01] [-1.21074462e-02 -8.81232785e-05 9.99926698e-01 -4.79950760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15862385300002 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:231.84, Y:-48.59, Z:-4.81 [[ 9.70469154e-01 2.40918920e-01 1.21530172e-02 2.31836101e+02] [-2.40900971e-01 9.70545243e-01 -2.94170496e-03 -4.85879877e+01] [-1.25037654e-02 -7.28397069e-05 9.99921822e-01 -4.80650945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18862385300002 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:231.86, Y:-48.60, Z:-4.81 [[ 9.70729148e-01 2.39860417e-01 1.23248060e-02 2.31864022e+02] [-2.39841880e-01 9.70807384e-01 -2.98267500e-03 -4.85954708e+01] [-1.26804383e-02 -6.06350666e-05 9.99919598e-01 -4.80708010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21862385300003 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:231.89, Y:-48.60, Z:-4.81 [[ 9.71080614e-01 2.38416689e-01 1.26460677e-02 2.31891333e+02] [-2.38397057e-01 9.71162953e-01 -3.05984865e-03 -4.86028822e+01] [-1.30109114e-02 -4.34256151e-05 9.99915354e-01 -4.80723969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24862385300003 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:231.92, Y:-48.61, Z:-4.80 [[ 9.71322191e-01 2.37456509e-01 1.21494171e-02 2.31919162e+02] [-2.37438323e-01 9.71398170e-01 -2.93891250e-03 -4.86101207e+01] [-1.24997855e-02 -3.01063065e-05 9.99921874e-01 -4.79764481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27862385300003 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:231.95, Y:-48.62, Z:-4.81 [[ 9.71985501e-01 2.34675259e-01 1.31037755e-02 2.31946060e+02] [-2.34653862e-01 9.72073826e-01 -3.16894535e-03 -4.86184591e+01] [-1.34815102e-02 5.31741495e-06 9.99909120e-01 -4.80787198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30862385300003 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:231.97, Y:-48.63, Z:-4.81 [[ 9.72219617e-01 2.33682272e-01 1.34763804e-02 2.31973079e+02] [-2.33659551e-01 9.72313013e-01 -3.25863280e-03 -4.86257352e+01] [-1.38647448e-02 1.92217275e-05 9.99903880e-01 -4.80791668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33862385300003 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:232.00, Y:-48.63, Z:-4.81 [[ 9.72680799e-01 2.31746709e-01 1.36207774e-02 2.32000119e+02] [-2.31723321e-01 9.72776162e-01 -3.29270543e-03 -4.86330713e+01] [-1.40130412e-02 4.64995898e-05 9.99901811e-01 -4.80808457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36862385300003 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:232.03, Y:-48.64, Z:-4.80 [[ 9.72835914e-01 2.31100353e-01 1.35245068e-02 2.32026906e+02] [-2.31077242e-01 9.72929917e-01 -3.26862865e-03 -4.86397919e+01] [-1.39137786e-02 5.46335886e-05 9.99903197e-01 -4.80466096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39862385300003 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:232.05, Y:-48.65, Z:-4.81 [[ 9.73073737e-01 2.30061106e-01 1.41205214e-02 2.32054624e+02] [-2.30035818e-01 9.73176183e-01 -3.41172761e-03 -4.86480981e+01] [-1.45266609e-02 7.16368481e-05 9.99894480e-01 -4.80818804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.428623853 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:232.08, Y:-48.66, Z:-4.81 [[ 9.73213111e-01 2.29461905e-01 1.42644431e-02 2.32081461e+02] [-2.29436044e-01 9.73317640e-01 -3.44586905e-03 -4.86553630e+01] [-1.46745298e-02 8.07875400e-05 9.99892320e-01 -4.80885239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.458623853 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:232.11, Y:-48.66, Z:-4.81 [[ 9.73284956e-01 2.29186671e-01 1.37791157e-02 2.32109182e+02] [-2.29162524e-01 9.73382486e-01 -3.32779924e-03 -4.86631196e+01] [-1.41750371e-02 8.12400042e-05 9.99899526e-01 -4.80928828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.488623853 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:232.14, Y:-48.67, Z:-4.81 [[ 9.73336681e-01 2.28960461e-01 1.38857218e-02 2.32135442e+02] [-2.28935925e-01 9.73435720e-01 -3.35294179e-03 -4.86708668e+01] [-1.42845487e-02 8.46006714e-05 9.99897967e-01 -4.80954186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.518623853 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:232.16, Y:-48.68, Z:-4.81 [[ 9.73278201e-01 2.29196050e-01 1.40966072e-02 2.32162192e+02] [-2.29170800e-01 9.73380277e-01 -3.40302415e-03 -4.86776221e+01] [-1.45013191e-02 8.15584776e-05 9.99894847e-01 -4.81008463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.548623853 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:232.19, Y:-48.68, Z:-4.81 [[ 9.73170621e-01 2.29655288e-01 1.40495777e-02 2.32190480e+02] [-2.29630267e-01 9.73272030e-01 -3.39070670e-03 -4.86847988e+01] [-1.44527547e-02 7.35278546e-05 9.99895551e-01 -4.81065569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.578623853 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:232.22, Y:-48.69, Z:-4.81 [[ 9.72780330e-01 2.31354392e-01 1.31748204e-02 2.32218047e+02] [-2.31332549e-01 9.72869541e-01 -3.17936179e-03 -4.86923299e+01] [-1.35529408e-02 4.50558164e-05 9.99908154e-01 -4.81222548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.608623853 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:232.25, Y:-48.70, Z:-4.81 [[ 9.72480708e-01 2.32642801e-01 1.25936592e-02 2.32245992e+02] [-2.32622956e-01 9.72562248e-01 -3.03872535e-03 -4.86992591e+01] [-1.29550551e-02 2.55275495e-05 9.99916079e-01 -4.81293315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.638623853 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:232.27, Y:-48.71, Z:-4.81 [[ 9.72132206e-01 2.34113167e-01 1.22474431e-02 2.32274544e+02] [-2.34094521e-01 9.72209353e-01 -2.95464717e-03 -4.87059294e+01] [-1.25988005e-02 5.24834283e-06 9.99920632e-01 -4.81335985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.668623853 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:232.30, Y:-48.71, Z:-4.81 [[ 9.71444009e-01 2.36961271e-01 1.20786692e-02 2.32302982e+02] [-2.36943362e-01 9.71519097e-01 -2.91342144e-03 -4.87114115e+01] [-1.24250258e-02 -3.17346825e-05 9.99922806e-01 -4.81407572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69862385300002 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:232.33, Y:-48.72, Z:-4.81 [[ 9.71121272e-01 2.38297275e-01 1.17424056e-02 2.32331818e+02] [-2.38280456e-01 9.71192260e-01 -2.83158899e-03 -4.87173751e+01] [-1.20788933e-02 -4.81694411e-05 9.99927046e-01 -4.80916086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72862385300002 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:232.36, Y:-48.72, Z:-4.82 [[ 9.70796998e-01 2.39628560e-01 1.14604792e-02 2.32359502e+02] [-2.39612631e-01 9.70864640e-01 -2.76362403e-03 -4.87223166e+01] [-1.17888172e-02 -6.31576526e-05 9.99930507e-01 -4.81542256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75862385300002 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:232.39, Y:-48.73, Z:-4.82 [[ 9.70809567e-01 2.39577625e-01 1.14606731e-02 2.32387235e+02] [-2.39561703e-01 9.70877210e-01 -2.76281948e-03 -4.87288614e+01] [-1.17888161e-02 -6.33667795e-05 9.99930507e-01 -4.81597232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78862385300002 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:232.41, Y:-48.73, Z:-4.82 [[ 9.70729724e-01 2.39908863e-01 1.12933973e-02 2.32414675e+02] [-2.39893431e-01 9.70795412e-01 -2.72196415e-03 -4.87345575e+01] [-1.16166016e-02 -6.69203038e-05 9.99932523e-01 -4.81641796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81862385300002 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:232.44, Y:-48.74, Z:-4.82 [[ 9.70655819e-01 2.40196897e-01 1.15209242e-02 2.32443256e+02] [-2.40180868e-01 9.70724186e-01 -2.77588679e-03 -4.87405884e+01] [-1.18503992e-02 -7.26749057e-05 9.99929779e-01 -4.81673608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84862385300002 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:232.47, Y:-48.74, Z:-4.82 [[ 9.70623080e-01 2.40322536e-01 1.16582443e-02 2.32471670e+02] [-2.40306138e-01 9.70693089e-01 -2.80839713e-03 -4.87444623e+01] [-1.19914983e-02 -7.56525886e-05 9.99928097e-01 -4.81714530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87862385300002 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:232.50, Y:-48.75, Z:-4.81 [[ 9.70639083e-01 2.40281270e-01 1.11661290e-02 2.32500536e+02] [-2.40266230e-01 9.70703305e-01 -2.68933358e-03 -4.87494222e+01] [-1.14851948e-02 -7.24714399e-05 9.99934040e-01 -4.80713488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90862385300002 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:232.53, Y:-48.75, Z:-4.82 [[ 9.70758470e-01 2.39763318e-01 1.18972204e-02 2.32528930e+02] [-2.39746214e-01 9.70831369e-01 -2.86477361e-03 -4.87548589e+01] [-1.22370624e-02 -7.13102977e-05 9.99925122e-01 -4.81841920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93862385300002 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:232.56, Y:-48.76, Z:-4.82 [[ 9.70908072e-01 2.39154655e-01 1.19401275e-02 2.32556911e+02] [-2.39137387e-01 9.70981486e-01 -2.87457039e-03 -4.87589289e+01] [-1.22811096e-02 -6.43873013e-05 9.99924582e-01 -4.81886442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96862385300003 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:232.58, Y:-48.76, Z:-4.82 [[ 9.71031681e-01 2.38655077e-01 1.18839848e-02 2.32584493e+02] [-2.38637943e-01 9.71104398e-01 -2.86029893e-03 -4.87638424e+01] [-1.22232148e-02 -5.85288167e-05 9.99925292e-01 -4.81988163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99862385300003 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:232.61, Y:-48.77, Z:-4.82 [[ 9.71292989e-01 2.37577487e-01 1.21189018e-02 2.32613355e+02] [-2.37559596e-01 9.71368589e-01 -2.91592575e-03 -4.87681136e+01] [-1.24646788e-02 -4.67431776e-05 9.99922312e-01 -4.81997727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02862385300003 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:232.64, Y:-48.77, Z:-4.82 [[ 9.71466324e-01 2.36845868e-01 1.25386321e-02 2.32641226e+02] [-2.36826663e-01 9.71547237e-01 -3.01634302e-03 -4.87732709e+01] [-1.28962818e-02 -3.92067461e-05 9.99916839e-01 -4.82055889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05862385300003 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:232.67, Y:-48.78, Z:-4.81 [[ 9.71674205e-01 2.36010190e-01 1.21831952e-02 2.32670089e+02] [-2.35992003e-01 9.71750580e-01 -2.93005260e-03 -4.87779413e+01] [-1.25305493e-02 -2.80801042e-05 9.99921489e-01 -4.81140290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08862385300003 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:232.70, Y:-48.78, Z:-4.82 [[ 9.72186074e-01 2.33879201e-01 1.24401327e-02 2.32698632e+02] [-2.33860072e-01 9.72265663e-01 -2.99122053e-03 -4.87827881e+01] [-1.27946981e-02 -1.22737939e-06 9.99918144e-01 -4.82223713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11862385300003 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:232.73, Y:-48.79, Z:-4.82 [[ 9.72439559e-01 2.32834399e-01 1.22248763e-02 2.32725839e+02] [-2.32815850e-01 9.72516397e-01 -2.93894626e-03 -4.87880468e+01] [-1.25731804e-02 1.18026362e-05 9.99920954e-01 -4.82300340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14862385300003 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:232.75, Y:-48.79, Z:-4.82 [[ 9.72677270e-01 2.31847055e-01 1.20777422e-02 2.32754532e+02] [-2.31828884e-01 9.72752251e-01 -2.90276044e-03 -4.87935606e+01] [-1.24216474e-02 2.34796074e-05 9.99922848e-01 -4.82347637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.178623853 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:232.78, Y:-48.80, Z:-4.82 [[ 9.73175125e-01 2.29774788e-01 1.15638430e-02 2.32781837e+02] [-2.29757989e-01 9.73243826e-01 -2.77879193e-03 -4.87970569e+01] [-1.18929351e-02 4.73658793e-05 9.99929275e-01 -4.82451131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.208623853 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:232.81, Y:-48.80, Z:-4.83 [[ 9.73445260e-01 2.28629019e-01 1.15368186e-02 2.32808956e+02] [-2.28612227e-01 9.73513620e-01 -2.77156145e-03 -4.88021268e+01] [-1.18649095e-02 6.05055480e-05 9.99929608e-01 -4.82515177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.238623853 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:232.84, Y:-48.81, Z:-4.81 [[ 9.73904037e-01 2.26693219e-01 1.10050526e-02 2.32837871e+02] [-2.26677824e-01 9.73966210e-01 -2.64309212e-03 -4.88057019e+01] [-1.13177205e-02 7.95167077e-05 9.99935949e-01 -4.81425360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.268623853 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:232.87, Y:-48.81, Z:-4.83 [[ 9.74109965e-01 2.25770127e-01 1.17313833e-02 2.32866001e+02] [-2.25752573e-01 9.74180600e-01 -2.81689178e-03 -4.88115746e+01] [-1.20644561e-02 9.55723711e-05 9.99927217e-01 -4.82535797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.298623853 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:232.89, Y:-48.82, Z:-4.83 [[ 9.74254764e-01 2.25138972e-01 1.18363001e-02 2.32894723e+02] [-2.25121064e-01 9.74326656e-01 -2.84149445e-03 -4.88167904e+01] [-1.21721538e-02 1.03739036e-04 9.99925911e-01 -4.82589718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.328623853 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:232.92, Y:-48.82, Z:-4.82 [[ 9.74497573e-01 2.24091569e-01 1.17238242e-02 2.32923510e+02] [-2.24073931e-01 9.74568087e-01 -2.81391518e-03 -4.88197477e+01] [-1.20562396e-02 1.15150146e-04 9.99927314e-01 -4.81743197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.358623853 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:232.95, Y:-48.83, Z:-4.83 [[ 9.74591718e-01 2.23644161e-01 1.24206568e-02 2.32951343e+02] [-2.23624336e-01 9.74670854e-01 -2.98049769e-03 -4.88256965e+01] [-1.27726231e-02 1.27207243e-04 9.99918419e-01 -4.82661084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.388623853 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:232.98, Y:-48.83, Z:-4.83 [[ 9.74710718e-01 2.23109077e-01 1.27026032e-02 2.32978848e+02] [-2.23088304e-01 9.74793476e-01 -3.04757126e-03 -4.88304483e+01] [-1.30623555e-02 1.36698171e-04 9.99914674e-01 -4.82686440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.418623853 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:233.01, Y:-48.83, Z:-4.83 [[ 9.74855825e-01 2.22465926e-01 1.28465190e-02 2.33006370e+02] [-2.22444634e-01 9.74940455e-01 -3.08128030e-03 -4.88332117e+01] [-1.32100710e-02 1.46164819e-04 9.99912733e-01 -4.82778328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44862385300002 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:233.03, Y:-48.84, Z:-4.83 [[ 9.74946196e-01 2.22078777e-01 1.26859005e-02 2.33033492e+02] [-2.22057991e-01 9.75028715e-01 -3.04206928e-03 -4.88382252e+01] [-1.30446963e-02 1.48848296e-04 9.99914903e-01 -4.82782019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47862385300002 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:233.06, Y:-48.84, Z:-4.83 [[ 9.75124883e-01 2.21271206e-01 1.30581596e-02 2.33060840e+02] [-2.21249124e-01 9.75212298e-01 -3.13027074e-03 -4.88440601e+01] [-1.34271166e-02 1.63298525e-04 9.99909839e-01 -4.82905471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50862385300002 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:233.09, Y:-48.85, Z:-4.83 [[ 9.75376408e-01 2.20154761e-01 1.31431909e-02 2.33088979e+02] [-2.20132300e-01 9.75464940e-01 -3.14979144e-03 -4.88494067e+01] [-1.35141635e-02 1.78991417e-04 9.99908664e-01 -4.82857524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53862385300002 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:233.12, Y:-48.85, Z:-4.83 [[ 9.75564194e-01 2.19306456e-01 1.33859054e-02 2.33117880e+02] [-2.19283087e-01 9.75656005e-01 -3.20728122e-03 -4.88543940e+01] [-1.37634165e-02 1.93606059e-04 9.99905261e-01 -4.82901895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56862385300002 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:233.15, Y:-48.86, Z:-4.83 [[ 9.75900289e-01 2.17823998e-01 1.30893561e-02 2.33145653e+02] [-2.17801528e-01 9.75988044e-01 -3.13563927e-03 -4.88588525e+01] [-1.34580725e-02 2.09189517e-04 9.99909414e-01 -4.82994767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59862385300002 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:233.17, Y:-48.87, Z:-4.83 [[ 9.76098524e-01 2.16926015e-01 1.32202575e-02 2.33174176e+02] [-2.16903024e-01 9.76188022e-01 -3.16605600e-03 -4.88653884e+01] [-1.35922569e-02 2.22868775e-04 9.99907596e-01 -4.83084710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62862385300002 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:233.20, Y:-48.87, Z:-4.83 [[ 9.76336792e-01 2.15873507e-01 1.28490668e-02 2.33202827e+02] [-2.15851706e-01 9.76421311e-01 -3.07653533e-03 -4.88714805e+01] [-1.32102451e-02 2.30241649e-04 9.99912714e-01 -4.83123143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65862385300002 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:233.23, Y:-48.88, Z:-4.83 [[ 9.76541545e-01 2.14953439e-01 1.27133749e-02 2.33231427e+02] [-2.14932026e-01 9.76624269e-01 -3.04341610e-03 -4.88777108e+01] [-1.30703833e-02 2.39510824e-04 9.99914550e-01 -4.83163305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68862385300002 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:233.26, Y:-48.88, Z:-4.83 [[ 9.76960436e-01 2.13036034e-01 1.28044829e-02 2.33258475e+02] [-2.13014156e-01 9.77044307e-01 -3.06463809e-03 -4.88835117e+01] [-1.31634255e-02 2.66494030e-04 9.99913323e-01 -4.83280202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71862385300003 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:233.29, Y:-48.89, Z:-4.83 [[ 9.77108133e-01 2.12345865e-01 1.29972824e-02 2.33286945e+02] [-2.12323275e-01 9.77194533e-01 -3.10985833e-03 -4.88900816e+01] [-1.33612388e-02 2.79042318e-04 9.99910696e-01 -4.83336978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74862385300003 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:233.32, Y:-48.90, Z:-4.83 [[ 9.77234363e-01 2.11780282e-01 1.27323153e-02 2.33315266e+02] [-2.11758564e-01 9.77317263e-01 -3.04585866e-03 -4.88963807e+01] [-1.30885643e-02 2.80340956e-04 9.99914302e-01 -4.83340341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77862385300003 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:233.34, Y:-48.90, Z:-4.83 [[ 9.77258508e-01 2.11688818e-01 1.23956778e-02 2.33342161e+02] [-2.11668232e-01 9.77337081e-01 -2.96480896e-03 -4.89028783e+01] [-1.27423724e-02 2.73613578e-04 9.99918775e-01 -4.83427401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80862385300003 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:233.37, Y:-48.91, Z:-4.83 [[ 9.77373550e-01 2.11208657e-01 1.14824779e-02 2.33370646e+02] [-2.11190968e-01 9.77440963e-01 -2.74565708e-03 -4.89091379e+01] [-1.18033508e-02 2.58536991e-04 9.99930305e-01 -4.82573444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83862385300003 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:233.40, Y:-48.92, Z:-4.84 [[ 9.77496108e-01 2.10617022e-01 1.19091756e-02 2.33397444e+02] [-2.10597956e-01 9.77568614e-01 -2.84715434e-03 -4.89163696e+01] [-1.22416954e-02 2.75034256e-04 9.99925030e-01 -4.83540765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86862385300003 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:233.43, Y:-48.92, Z:-4.84 [[ 9.77591743e-01 2.10140637e-01 1.24618215e-02 2.33425404e+02] [-2.10119733e-01 9.77671124e-01 -2.97839396e-03 -4.89227659e+01] [-1.28094446e-02 2.93178730e-04 9.99917913e-01 -4.83580573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89862385300003 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:233.45, Y:-48.93, Z:-4.84 [[ 9.77707184e-01 2.09596650e-01 1.25660826e-02 2.33453926e+02] [-2.09575358e-01 9.77787888e-01 -3.00269712e-03 -4.89293829e+01] [-1.29163186e-02 3.02217279e-04 9.99916535e-01 -4.83585438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.928623853 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:233.48, Y:-48.94, Z:-4.84 [[ 9.78015517e-01 2.08138551e-01 1.28059222e-02 2.33480202e+02] [-2.08116322e-01 9.78099298e-01 -3.05943383e-03 -4.89370773e+01] [-1.31622496e-02 3.27052341e-04 9.99913320e-01 -4.83683789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.958623853 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:233.51, Y:-48.95, Z:-4.84 [[ 9.78254194e-01 2.07029282e-01 1.25541844e-02 2.33507513e+02] [-2.07007837e-01 9.78334689e-01 -2.99846775e-03 -4.89453794e+01] [-1.29029647e-02 3.34449097e-04 9.99916697e-01 -4.83760258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.988623853 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:233.54, Y:-48.96, Z:-4.84 [[ 9.78755077e-01 2.04670120e-01 1.21918243e-02 2.33535082e+02] [-2.04649719e-01 9.78830944e-01 -2.91135689e-03 -4.89551801e+01] [-1.25296026e-02 3.54451915e-04 9.99921439e-01 -4.83782495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.018623853 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:233.56, Y:-48.96, Z:-4.84 [[ 9.78990343e-01 2.03549042e-01 1.20704860e-02 2.33562705e+02] [-2.03528967e-01 9.79064684e-01 -2.88181811e-03 -4.89631337e+01] [-1.24043779e-02 3.64578545e-04 9.99922996e-01 -4.83833860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.048623853 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:233.59, Y:-48.97, Z:-4.84 [[ 9.79092789e-01 2.03055164e-01 1.20793522e-02 2.33589468e+02] [-2.03035029e-01 9.79167229e-01 -2.88339979e-03 -4.89712754e+01] [-1.24131951e-02 3.70584309e-04 9.99922885e-01 -4.83931555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.078623853 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:233.62, Y:-48.98, Z:-4.84 [[ 9.79108975e-01 2.02941630e-01 1.26613818e-02 2.33617596e+02] [-2.02919513e-01 9.79190759e-01 -3.02124301e-03 -4.89810707e+01] [-1.30110441e-02 3.88884713e-04 9.99915277e-01 -4.83904949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.108623853 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:233.65, Y:-48.99, Z:-4.84 [[ 9.79018797e-01 2.03367043e-01 1.28078456e-02 2.33645215e+02] [-2.03344451e-01 9.79102495e-01 -3.05593035e-03 -4.89893841e+01] [-1.31616691e-02 3.87408915e-04 9.99913306e-01 -4.83957665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.138623853 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:233.67, Y:-49.00, Z:-4.84 [[ 9.78969412e-01 2.03611478e-01 1.26986592e-02 2.33671581e+02] [-2.03589294e-01 9.79051695e-01 -3.02952624e-03 -4.89976075e+01] [-1.30494901e-02 3.80502463e-04 9.99914779e-01 -4.83913989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.168623853 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:233.70, Y:-49.01, Z:-4.84 [[ 9.78905859e-01 2.03912295e-01 1.27709088e-02 2.33698235e+02] [-2.03889894e-01 9.78989087e-01 -3.04591294e-03 -4.90086833e+01] [-1.31236794e-02 3.77802779e-04 9.99913809e-01 -4.83988120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19862385300002 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:233.72, Y:-49.02, Z:-4.84 [[ 9.78885819e-01 2.04000521e-01 1.28973110e-02 2.33724862e+02] [-2.03977690e-01 9.78970706e-01 -3.07552543e-03 -4.90174431e+01] [-1.32534985e-02 3.79824519e-04 9.99912096e-01 -4.84022421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22862385300002 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:233.75, Y:-49.03, Z:-4.84 [[ 9.78673237e-01 2.04969317e-01 1.36482632e-02 2.33752858e+02] [-2.04943861e-01 9.78768323e-01 -3.25336062e-03 -4.90294439e+01] [-1.40253267e-02 3.86849212e-04 9.99901565e-01 -4.83988464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25862385300002 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:233.78, Y:-49.04, Z:-4.84 [[ 9.78443653e-01 2.06028884e-01 1.41462524e-02 2.33781092e+02] [-2.06001647e-01 9.78545835e-01 -3.37212555e-03 -4.90384536e+01] [-1.45375116e-02 3.85283553e-04 9.99894251e-01 -4.84064319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28862385300002 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:233.81, Y:-49.05, Z:-4.84 [[ 9.78156007e-01 2.07383725e-01 1.42413382e-02 2.33809013e+02] [-2.07356266e-01 9.78259605e-01 -3.39460990e-03 -4.90469347e+01] [-1.46357128e-02 3.67427354e-04 9.99892825e-01 -4.84098228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31862385300002 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:233.84, Y:-49.06, Z:-4.84 [[ 9.77420267e-01 2.10835088e-01 1.40778891e-02 2.33836741e+02] [-2.10808615e-01 9.77521595e-01 -3.35553475e-03 -4.90578713e+01] [-1.44689051e-02 3.12027363e-04 9.99895271e-01 -4.84204488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34862385300002 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:233.86, Y:-49.07, Z:-4.84 [[ 9.76950487e-01 2.13049598e-01 1.33272359e-02 2.33864318e+02] [-2.13026086e-01 9.77041350e-01 -3.17609347e-03 -4.90672405e+01] [-1.36979260e-02 2.63837157e-04 9.99906144e-01 -4.84274605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37862385300002 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:233.89, Y:-49.08, Z:-4.84 [[ 9.75885543e-01 2.17939095e-01 1.22457465e-02 2.33891685e+02] [-2.17919623e-01 9.75962355e-01 -2.91875104e-03 -4.90782937e+01] [-1.25874975e-02 1.79778480e-04 9.99920758e-01 -4.84374242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40862385300002 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:233.92, Y:-49.09, Z:-4.84 [[ 9.75303057e-01 2.20551823e-01 1.18676628e-02 2.33919479e+02] [-2.20533731e-01 9.75375248e-01 -2.82844124e-03 -4.90869575e+01] [-1.21992424e-02 1.41367430e-04 9.99925576e-01 -4.84449875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43862385300002 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:233.95, Y:-49.10, Z:-4.84 [[ 9.74670643e-01 2.23338048e-01 1.17155482e-02 2.33948174e+02] [-2.23320625e-01 9.74741045e-01 -2.79167740e-03 -4.90954683e+01] [-1.20431135e-02 1.04642453e-04 9.99927474e-01 -4.84465587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46862385300003 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:233.98, Y:-49.10, Z:-4.84 [[ 9.74039440e-01 2.26086927e-01 1.14835010e-02 2.33975535e+02] [-2.26070379e-01 9.74107128e-01 -2.73628785e-03 -4.91032464e+01] [-1.18047991e-02 6.91728718e-05 9.99930319e-01 -4.84469147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49862385300003 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:234.00, Y:-49.11, Z:-4.85 [[ 9.72810760e-01 2.31302978e-01 1.17540125e-02 2.34001767e+02] [-2.31286027e-01 9.72881767e-01 -2.80023042e-03 -4.91118224e+01] [-1.20829661e-02 5.55543223e-06 9.99926998e-01 -4.84526669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52862385300003 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:234.03, Y:-49.12, Z:-4.85 [[ 9.72189038e-01 2.33877582e-01 1.22372974e-02 2.34029192e+02] [-2.33859424e-01 9.72266052e-01 -2.91448407e-03 -4.91196984e+01] [-1.25795413e-02 -2.83778470e-05 9.99920874e-01 -4.84558804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55862385300003 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:234.06, Y:-49.13, Z:-4.85 [[ 9.71014955e-01 2.38626987e-01 1.36791172e-02 2.34057077e+02] [-2.38604778e-01 9.71111297e-01 -3.25710758e-03 -4.91280238e+01] [-1.40611790e-02 -1.01202550e-04 9.99901132e-01 -4.84609702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58862385300003 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:234.08, Y:-49.14, Z:-4.85 [[ 9.70449858e-01 2.40901341e-01 1.39146152e-02 2.34084283e+02] [-2.40878605e-01 9.70549599e-01 -3.31253454e-03 -4.91353342e+01] [-1.43028183e-02 -1.37084434e-04 9.99897700e-01 -4.84644311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61862385300003 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:234.11, Y:-49.14, Z:-4.85 [[ 9.69326070e-01 2.45392446e-01 1.37665698e-02 2.34111298e+02] [-2.45370654e-01 9.69423801e-01 -3.27644571e-03 -4.91427451e+01] [-1.41496555e-02 -2.01968007e-04 9.99899868e-01 -4.84692062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64862385300003 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:234.14, Y:-49.15, Z:-4.85 [[ 9.69334272e-01 2.45360030e-01 1.37667824e-02 2.34139849e+02] [-2.45338248e-01 9.69432006e-01 -3.27555232e-03 -4.91494511e+01] [-1.41496491e-02 -2.02413141e-04 9.99899868e-01 -4.84748647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.678623853 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:234.17, Y:-49.16, Z:-4.85 [[ 9.68840308e-01 2.47307693e-01 1.36880223e-02 2.34168315e+02] [-2.47286360e-01 9.68936970e-01 -3.25640496e-03 -4.91561831e+01] [-1.40681649e-02 -2.29924832e-04 9.99901012e-01 -4.84820286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.708623853 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:234.20, Y:-49.16, Z:-4.85 [[ 9.68417119e-01 2.48972032e-01 1.34614992e-02 2.34196661e+02] [-2.48951568e-01 9.68510643e-01 -3.20186352e-03 -4.91626371e+01] [-1.38347797e-02 -2.50521884e-04 9.99904263e-01 -4.84837882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.738623853 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:234.22, Y:-49.17, Z:-4.85 [[ 9.68059055e-01 2.50353183e-01 1.35996293e-02 2.34224175e+02] [-2.50332442e-01 9.68154538e-01 -3.23409962e-03 -4.91686040e+01] [-1.39762099e-02 -2.73628989e-04 9.99902291e-01 -4.84909972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.768623853 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:234.25, Y:-49.17, Z:-4.85 [[ 9.67493782e-01 2.52521891e-01 1.37286864e-02 2.34252370e+02] [-2.52500986e-01 9.67591132e-01 -3.26387726e-03 -4.91738480e+01] [-1.41079556e-02 -3.08725899e-04 9.99900430e-01 -4.84962677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.798623853 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:234.28, Y:-49.18, Z:-4.85 [[ 9.67329009e-01 2.53142477e-01 1.39095137e-02 2.34279675e+02] [-2.53121090e-01 9.67428955e-01 -3.30623291e-03 -4.91797299e+01] [-1.42934143e-02 -3.22576264e-04 9.99897792e-01 -4.84968721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.828623853 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:234.31, Y:-49.19, Z:-4.85 [[ 9.67241192e-01 2.53467526e-01 1.40956955e-02 2.34306812e+02] [-2.53445611e-01 9.67343839e-01 -3.34961879e-03 -4.91851591e+01] [-1.44844037e-02 -3.32602873e-04 9.99895040e-01 -4.85022433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.858623853 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:234.33, Y:-49.19, Z:-4.85 [[ 9.67262796e-01 2.53335309e-01 1.49634101e-02 2.34334829e+02] [-2.53310612e-01 9.67378466e-01 -3.55483944e-03 -4.91896039e+01] [-1.53758470e-02 -3.51926620e-04 9.99881723e-01 -4.85031173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.888623853 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:234.36, Y:-49.19, Z:-4.85 [[ 9.67368031e-01 2.52902302e-01 1.54763688e-02 2.34361761e+02] [-2.52875841e-01 9.67491756e-01 -3.67576837e-03 -4.91948674e+01] [-1.59028695e-02 -3.57778974e-04 9.99873477e-01 -4.85082460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.918623853 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:234.39, Y:-49.20, Z:-4.85 [[ 9.67723434e-01 2.51505428e-01 1.60117334e-02 2.34390336e+02] [-2.51476930e-01 9.67855825e-01 -3.80194176e-03 -4.91991171e+01] [-1.64532584e-02 -3.47353424e-04 9.99864576e-01 -4.85167124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94862385300002 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:234.42, Y:-49.20, Z:-4.85 [[ 9.67959120e-01 2.50606406e-01 1.58609721e-02 2.34418845e+02] [-2.50578334e-01 9.68089004e-01 -3.76540288e-03 -4.92042433e+01] [-1.62984668e-02 -3.29659908e-04 9.99867117e-01 -4.85207441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97862385300002 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:234.45, Y:-49.21, Z:-4.85 [[ 9.68184470e-01 2.49763823e-01 1.53904193e-02 2.34447480e+02] [-2.49737296e-01 9.68306738e-01 -3.65298962e-03 -4.92094815e+01] [-1.58150313e-02 -3.06793880e-04 9.99874888e-01 -4.85247394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00862385300002 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:234.48, Y:-49.21, Z:-4.85 [[ 9.68841955e-01 2.47274810e-01 1.41575115e-02 2.34475353e+02] [-2.47252105e-01 9.68945359e-01 -3.35982019e-03 -4.92125372e+01] [-1.45486540e-02 -2.45339759e-04 9.99894133e-01 -4.85372888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03862385300002 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:234.50, Y:-49.22, Z:-4.85 [[ 9.69245304e-01 2.45722999e-01 1.35553515e-02 2.34502589e+02] [-2.45702044e-01 9.69340065e-01 -3.21610768e-03 -4.92168615e+01] [-1.39300169e-02 -2.13380302e-04 9.99902950e-01 -4.85453365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06862385300002 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:234.53, Y:-49.22, Z:-4.86 [[ 9.69953123e-01 2.42935911e-01 1.31561013e-02 2.34530761e+02] [-2.42915926e-01 9.70042326e-01 -3.12064878e-03 -4.92192017e+01] [-1.35200927e-02 -1.68943495e-04 9.99908585e-01 -4.85561584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09862385300002 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:234.56, Y:-49.22, Z:-4.86 [[ 9.70263502e-01 2.41709301e-01 1.28588686e-02 2.34558113e+02] [-2.41690110e-01 9.70348696e-01 -3.04942206e-03 -4.92238780e+01] [-1.32146601e-02 -1.49118446e-04 9.99912671e-01 -4.85673708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12862385300002 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:234.59, Y:-49.23, Z:-4.85 [[ 9.70699225e-01 2.39988035e-01 1.21966190e-02 2.34586251e+02] [-2.39970642e-01 9.70775838e-01 -2.89179648e-03 -4.92278975e+01] [-1.25341796e-02 -1.19765878e-04 9.99921437e-01 -4.84748609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15862385300002 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:234.61, Y:-49.23, Z:-4.86 [[ 9.70978700e-01 2.38797352e-01 1.32736102e-02 2.34612924e+02] [-2.38776653e-01 9.71069417e-01 -3.14616800e-03 -4.92335773e+01] [-1.36408935e-02 -1.14566096e-04 9.99906952e-01 -4.85760177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18862385300002 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:234.64, Y:-49.24, Z:-4.86 [[ 9.71760551e-01 2.35553024e-01 1.40072891e-02 2.34641977e+02] [-2.35529657e-01 9.71861496e-01 -3.31864013e-03 -4.92374095e+01] [-1.43948607e-02 -7.42084482e-05 9.99896386e-01 -4.85771916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21862385300003 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:234.67, Y:-49.24, Z:-4.86 [[ 9.72159361e-01 2.33897390e-01 1.40779325e-02 2.34670055e+02] [-2.33873619e-01 9.72261286e-01 -3.33491052e-03 -4.92424238e+01] [-1.44674557e-02 -5.03925540e-05 9.99895340e-01 -4.85812668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24862385300003 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:234.70, Y:-49.25, Z:-4.86 [[ 9.73022392e-01 2.30268386e-01 1.42791891e-02 2.34698748e+02] [-2.30243551e-01 9.73127160e-01 -3.38187109e-03 -4.92463934e+01] [-1.46742048e-02 2.94509460e-06 9.99892328e-01 -4.85890855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27862385300003 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:234.73, Y:-49.25, Z:-4.86 [[ 9.73443937e-01 2.28489390e-01 1.41244797e-02 2.34726374e+02] [-2.28464911e-01 9.73546403e-01 -3.34458773e-03 -4.92517086e+01] [-1.45150392e-02 2.88206531e-05 9.99894651e-01 -4.85944967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30862385300003 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:234.75, Y:-49.26, Z:-4.86 [[ 9.73980470e-01 2.26237735e-01 1.33615338e-02 2.34754261e+02] [-2.26215630e-01 9.74072114e-01 -3.16306000e-03 -4.92565444e+01] [-1.37307010e-02 5.81708874e-05 9.99905728e-01 -4.85964905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33862385300003 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:234.78, Y:-49.26, Z:-4.86 [[ 9.74161234e-01 2.25486648e-01 1.28709810e-02 2.34782613e+02] [-2.25466083e-01 9.74246256e-01 -3.04599083e-03 -4.92623950e+01] [-1.32263353e-02 6.53165239e-05 9.99912526e-01 -4.86085711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36862385300003 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:234.81, Y:-49.27, Z:-4.86 [[ 9.74224419e-01 2.25239446e-01 1.24085609e-02 2.34809682e+02] [-2.25220319e-01 9.74303437e-01 -2.93605308e-03 -4.92680225e+01] [-1.27510185e-02 6.57145735e-05 9.99918700e-01 -4.86154087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39862385300003 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:234.84, Y:-49.27, Z:-4.86 [[ 9.73968530e-01 2.26389251e-01 1.15416293e-02 2.34838138e+02] [-2.26372793e-01 9.74036911e-01 -2.73021379e-03 -4.92722941e+01] [-1.18600641e-02 4.64314466e-05 9.99929666e-01 -4.86229026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.428623853 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:234.87, Y:-49.28, Z:-4.86 [[ 9.73683711e-01 2.27612980e-01 1.15048558e-02 2.34865720e+02] [-2.27596717e-01 9.73751678e-01 -2.72102491e-03 -4.92774189e+01] [-1.18222132e-02 3.09502266e-05 9.99930115e-01 -4.86293986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.458623853 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:234.89, Y:-49.28, Z:-4.86 [[ 9.72803269e-01 2.31326007e-01 1.19196847e-02 2.34893437e+02] [-2.31308837e-01 9.72876291e-01 -2.81841607e-03 -4.92803994e+01] [-1.22483516e-02 -1.53640487e-05 9.99924986e-01 -4.86318147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.488623853 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:234.92, Y:-49.28, Z:-4.86 [[ 9.72228943e-01 2.33726532e-01 1.19494910e-02 2.34920481e+02] [-2.33709468e-01 9.72302374e-01 -2.82466692e-03 -4.92847020e+01] [-1.22787180e-02 -4.64862419e-05 9.99924613e-01 -4.86323123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.518623853 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:234.95, Y:-49.29, Z:-4.86 [[ 9.71679528e-01 2.35982960e-01 1.22856828e-02 2.34948062e+02] [-2.35965116e-01 9.71757190e-01 -2.90297561e-03 -4.92888895e+01] [-1.26237534e-02 -7.82306005e-05 9.99920314e-01 -4.86380901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.548623853 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:234.98, Y:-49.29, Z:-4.86 [[ 9.70606711e-01 2.40285856e-01 1.36131949e-02 2.34976325e+02] [-2.40264387e-01 9.70702161e-01 -3.21550315e-03 -4.92909244e+01] [-1.39869977e-02 -1.49777001e-04 9.99902166e-01 -4.86358641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.578623853 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:235.00, Y:-49.29, Z:-4.86 [[ 9.70164506e-01 2.42039622e-01 1.40589070e-02 2.35003448e+02] [-2.42016923e-01 9.70266349e-01 -3.31973122e-03 -4.92949656e+01] [-1.44443909e-02 -1.81808012e-04 9.99895658e-01 -4.86391554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.608623853 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:235.03, Y:-49.30, Z:-4.86 [[ 9.69590839e-01 2.44315368e-01 1.42690717e-02 2.35030993e+02] [-2.44292250e-01 9.69695804e-01 -3.36807711e-03 -4.92967431e+01] [-1.46595319e-02 -2.20166925e-04 9.99892519e-01 -4.86391117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.638623853 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:235.06, Y:-49.30, Z:-4.86 [[ 9.69441363e-01 2.44916080e-01 1.41264956e-02 2.35058783e+02] [-2.44893504e-01 9.69544255e-01 -3.33317727e-03 -4.93008280e+01] [-1.45126113e-02 -2.28167074e-04 9.99894660e-01 -4.86460069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.668623853 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:235.09, Y:-49.30, Z:-4.87 [[ 9.69338875e-01 2.45344026e-01 1.37278402e-02 2.35085191e+02] [-2.45322762e-01 9.69436051e-01 -3.23820254e-03 -4.93042737e+01] [-1.41027368e-02 -2.28836073e-04 9.99900525e-01 -4.86525076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69862385300002 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:235.11, Y:-49.31, Z:-4.87 [[ 9.69265196e-01 2.45665220e-01 1.31749543e-02 2.35112319e+02] [-2.45645679e-01 9.69354707e-01 -3.10671162e-03 -4.93053411e+01] [-1.35344150e-02 -2.25143146e-04 9.99908380e-01 -4.86608861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72862385300002 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:235.14, Y:-49.31, Z:-4.86 [[ 9.69412893e-01 2.45120017e-01 1.24426815e-02 2.35140698e+02] [-2.45102555e-01 9.69492720e-01 -2.93304269e-03 -4.93087228e+01] [-1.27820366e-02 -2.06403619e-04 9.99918285e-01 -4.85694376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75862385300002 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:235.17, Y:-49.31, Z:-4.87 [[ 9.69421920e-01 2.45050380e-01 1.30940152e-02 2.35168234e+02] [-2.45031050e-01 9.69510322e-01 -3.08551868e-03 -4.93135756e+01] [-1.34508904e-02 -2.17270850e-04 9.99909509e-01 -4.86706697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78862385300002 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:235.20, Y:-49.31, Z:-4.86 [[ 9.69897607e-01 2.43199985e-01 1.23449828e-02 2.35196213e+02] [-2.43182663e-01 9.69976151e-01 -2.90824192e-03 -4.93131108e+01] [-1.26816233e-02 -1.81388906e-04 9.99919569e-01 -4.85682554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81862385300002 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:235.22, Y:-49.32, Z:-4.87 [[ 9.70087696e-01 2.42396863e-01 1.31766228e-02 2.35224028e+02] [-2.42377072e-01 9.70177163e-01 -3.10283818e-03 -4.93175343e+01] [-1.35357767e-02 -1.83686105e-04 9.99908370e-01 -4.86811252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84862385300002 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:235.25, Y:-49.32, Z:-4.87 [[ 9.70692990e-01 2.39995361e-01 1.25437284e-02 2.35251844e+02] [-2.39977232e-01 9.70774024e-01 -2.95328908e-03 -4.93188135e+01] [-1.28859014e-02 -1.43472227e-04 9.99916963e-01 -4.86872479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87862385300002 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:235.28, Y:-49.32, Z:-4.87 [[ 9.71072284e-01 2.38472795e-01 1.22207246e-02 2.35278840e+02] [-2.38455486e-01 9.71149170e-01 -2.87570436e-03 -4.93229403e+01] [-1.25539238e-02 -1.21582032e-04 9.99921189e-01 -4.86944881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90862385300002 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:235.31, Y:-49.33, Z:-4.87 [[ 9.71501213e-01 2.36718170e-01 1.22434057e-02 2.35306306e+02] [-2.36700684e-01 9.71578354e-01 -2.87896547e-03 -4.93270110e+01] [-1.25769314e-02 -1.01104056e-04 9.99920902e-01 -4.87020211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93862385300002 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:235.33, Y:-49.33, Z:-4.87 [[ 9.71977721e-01 2.34757820e-01 1.21686148e-02 2.35334152e+02] [-2.34740404e-01 9.72053887e-01 -2.86051799e-03 -4.93309158e+01] [-1.25000783e-02 -7.61057854e-05 9.99921868e-01 -4.86997329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96862385300003 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:235.36, Y:-49.33, Z:-4.87 [[ 9.73021725e-01 2.30362710e-01 1.27178774e-02 2.35361590e+02] [-2.30343322e-01 9.73104836e-01 -2.98873844e-03 -4.93321493e+01] [-1.30643219e-02 -2.13706992e-05 9.99914658e-01 -4.87032675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99862385300003 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:235.39, Y:-49.34, Z:-4.87 [[ 9.73632334e-01 2.27751814e-01 1.30072754e-02 2.35388006e+02] [-2.27731316e-01 9.73719216e-01 -3.05563130e-03 -4.93360644e+01] [-1.33613596e-02 1.28974991e-05 9.99910733e-01 -4.87052556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02862385300003 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:235.42, Y:-49.34, Z:-4.87 [[ 9.74935856e-01 2.22090633e-01 1.32599924e-02 2.35416148e+02] [-2.22068822e-01 9.75026021e-01 -3.11383061e-03 -4.93391652e+01] [-1.36203902e-02 9.11542241e-05 9.99907234e-01 -4.87124655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05862385300003 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:235.44, Y:-49.34, Z:-4.87 [[ 9.75560051e-01 2.19338169e-01 1.31664514e-02 2.35443224e+02] [-2.19316426e-01 9.75648887e-01 -3.09095491e-03 -4.93441805e+01] [-1.35237981e-02 1.27793054e-04 9.99908541e-01 -4.87196444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08862385300003 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:235.47, Y:-49.35, Z:-4.87 [[ 9.76645627e-01 2.14481469e-01 1.26893171e-02 2.35470553e+02] [-2.14460873e-01 9.76728040e-01 -2.97817702e-03 -4.93478253e+01] [-1.30327756e-02 1.87261539e-04 9.99915052e-01 -4.87282559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11862385300003 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:235.50, Y:-49.35, Z:-4.87 [[ 9.77055244e-01 2.12631975e-01 1.22757153e-02 2.35498488e+02] [-2.12612567e-01 9.77132336e-01 -2.88011023e-03 -4.93530862e+01] [-1.26074019e-02 2.04055459e-04 9.99920503e-01 -4.87321641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14862385300003 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:235.53, Y:-49.36, Z:-4.87 [[ 9.77395780e-01 2.11073378e-01 1.20630953e-02 2.35525998e+02] [-2.11054528e-01 9.77470194e-01 -2.82939388e-03 -4.93582809e+01] [-1.23885259e-02 2.19466747e-04 9.99923235e-01 -4.87341591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.178623853 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:235.55, Y:-49.36, Z:-4.87 [[ 9.77707186e-01 2.09617985e-01 1.22048942e-02 2.35554103e+02] [-2.09598586e-01 9.77783331e-01 -2.86179432e-03 -4.93631308e+01] [-1.25336257e-02 2.39868312e-04 9.99921422e-01 -4.87397733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.208623853 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:235.58, Y:-49.37, Z:-4.87 [[ 9.78132971e-01 2.07573986e-01 1.29973336e-02 2.35580836e+02] [-2.07551818e-01 9.78219280e-01 -3.04664249e-03 -4.93655493e+01] [-1.33466460e-02 2.82401250e-04 9.99910890e-01 -4.87413834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.238623853 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:235.61, Y:-49.37, Z:-4.87 [[ 9.78471388e-01 2.05976607e-01 1.29375716e-02 2.35607648e+02] [-2.05954518e-01 9.78556869e-01 -3.03152929e-03 -4.93695781e+01] [-1.32845737e-02 3.01713347e-04 9.99911711e-01 -4.87405423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.268623853 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:235.64, Y:-49.38, Z:-4.87 [[ 9.78655415e-01 2.05103318e-01 1.28921715e-02 2.35635132e+02] [-2.05081323e-01 9.78740278e-01 -3.01978918e-03 -4.93752091e+01] [-1.32374563e-02 3.11389444e-04 9.99912333e-01 -4.87493713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.298623853 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:235.66, Y:-49.38, Z:-4.88 [[ 9.78845846e-01 2.04201120e-01 1.27558875e-02 2.35662029e+02] [-2.04179522e-01 9.78928905e-01 -2.98702615e-03 -4.93812305e+01] [-1.30970610e-02 3.19347136e-04 9.99914179e-01 -4.87551976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.328623853 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:235.69, Y:-49.39, Z:-4.88 [[ 9.79012571e-01 2.03412059e-01 1.25666684e-02 2.35687950e+02] [-2.03391039e-01 9.79093167e-01 -2.94211053e-03 -4.93873869e+01] [-1.29023999e-02 3.24415457e-04 9.99916708e-01 -4.87581729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.358623853 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:235.71, Y:-49.39, Z:-4.87 [[ 9.79312969e-01 2.02008032e-01 1.17840337e-02 2.35714142e+02] [-2.01989466e-01 9.79383813e-01 -2.75732809e-03 -4.93928311e+01] [-1.20980942e-02 3.20036484e-04 9.99926764e-01 -4.86864659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.388623853 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:235.74, Y:-49.40, Z:-4.88 [[ 9.79401408e-01 2.01560192e-01 1.20983930e-02 2.35740001e+02] [-2.01540598e-01 9.79476073e-01 -2.83012592e-03 -4.93997180e+01] [-1.24205272e-02 3.33511950e-04 9.99922807e-01 -4.87720561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.418623853 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:235.77, Y:-49.41, Z:-4.88 [[ 9.79538778e-01 2.00877242e-01 1.23335330e-02 2.35766816e+02] [-2.00856849e-01 9.79616360e-01 -2.88324793e-03 -4.94068065e+01] [-1.26613096e-02 3.46978594e-04 9.99919782e-01 -4.87692862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44862385300002 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:235.79, Y:-49.41, Z:-4.88 [[ 9.79561695e-01 2.00760135e-01 1.24199305e-02 2.35793477e+02] [-2.00739457e-01 9.79640365e-01 -2.90257438e-03 -4.94134607e+01] [-1.27497865e-02 3.50080587e-04 9.99918657e-01 -4.87780166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47862385300002 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:235.82, Y:-49.42, Z:-4.88 [[ 9.79628336e-01 2.00430379e-01 1.24894680e-02 2.35820461e+02] [-2.00409457e-01 9.79707884e-01 -2.91760214e-03 -4.94198498e+01] [-1.28208064e-02 3.55158226e-04 9.99917747e-01 -4.87790026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50862385300002 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:235.85, Y:-49.43, Z:-4.88 [[ 9.79676611e-01 2.00179304e-01 1.27272942e-02 2.35847322e+02] [-2.00157569e-01 9.79759212e-01 -2.97223818e-03 -4.94284844e+01] [-1.30646643e-02 3.64367960e-04 9.99914587e-01 -4.87846121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53862385300002 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:235.87, Y:-49.44, Z:-4.88 [[ 9.79700547e-01 2.00064661e-01 1.26873750e-02 2.35873033e+02] [-2.00043063e-01 9.79782628e-01 -2.96209164e-03 -4.94358844e+01] [-1.30234795e-02 3.63941434e-04 9.99915125e-01 -4.87944231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56862385300002 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:235.90, Y:-49.44, Z:-4.88 [[ 9.79711648e-01 2.00010275e-01 1.26876362e-02 2.35900806e+02] [-1.99988687e-01 9.79793732e-01 -2.96097238e-03 -4.94422332e+01] [-1.30234914e-02 3.63515431e-04 9.99915125e-01 -4.87999209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59862385300002 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:235.93, Y:-49.45, Z:-4.88 [[ 9.79594035e-01 2.00626142e-01 1.20281785e-02 2.35927116e+02] [-2.00606793e-01 9.79667820e-01 -2.80652346e-03 -4.94512922e+01] [-1.23466814e-02 3.36319321e-04 9.99923720e-01 -4.88133894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62862385300002 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:235.95, Y:-49.46, Z:-4.88 [[ 9.79484933e-01 2.01177415e-01 1.17009998e-02 2.35952793e+02] [-2.01159150e-01 9.79554769e-01 -2.72970160e-03 -4.94589647e+01] [-1.20109245e-02 3.19938418e-04 9.99927815e-01 -4.88191519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65862385300002 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:235.98, Y:-49.47, Z:-4.88 [[ 9.79351758e-01 2.01875403e-01 1.07915024e-02 2.35979917e+02] [-2.01859926e-01 9.79411170e-01 -2.51601744e-03 -4.94661655e+01] [-1.10772401e-02 2.85694216e-04 9.99938605e-01 -4.87666246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68862385300002 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:236.01, Y:-49.48, Z:-4.88 [[ 9.78758843e-01 2.04767135e-01 1.00770672e-02 2.36006136e+02] [-2.04753799e-01 9.78810689e-01 -2.34881260e-03 -4.94752055e+01] [-1.03445007e-02 2.35603314e-04 9.99946466e-01 -4.88358331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71862385300003 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:236.03, Y:-49.48, Z:-4.88 [[ 9.78430874e-01 2.06338903e-01 9.86311385e-03 2.36031977e+02] [-2.06326214e-01 9.78480563e-01 -2.29824958e-03 -4.94817203e+01] [-1.01250835e-02 2.13659413e-04 9.99948717e-01 -4.88400145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74862385300003 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:236.06, Y:-49.49, Z:-4.88 [[ 9.77623180e-01 2.10119595e-01 1.01328583e-02 2.36058666e+02] [-2.10106413e-01 9.77675674e-01 -2.36033326e-03 -4.94895406e+01] [-1.04026014e-02 1.78537989e-04 9.99945876e-01 -4.88420146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77862385300003 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:236.09, Y:-49.50, Z:-4.88 [[ 9.77236342e-01 2.11912275e-01 1.01153565e-02 2.36085989e+02] [-2.11899242e-01 9.77288679e-01 -2.35553671e-03 -4.94969321e+01] [-1.03847906e-02 1.58479700e-04 9.99946064e-01 -4.88452467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80862385300003 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:236.11, Y:-49.50, Z:-4.88 [[ 9.76462967e-01 2.15451962e-01 1.00262490e-02 2.36113653e+02] [-2.15439352e-01 9.76514433e-01 -2.33405291e-03 -4.95039281e+01] [-1.02936531e-02 1.19067641e-04 9.99947012e-01 -4.87683723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83862385300003 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:236.14, Y:-49.51, Z:-4.89 [[ 9.76015256e-01 2.17439808e-01 1.06841314e-02 2.36139962e+02] [-2.17425616e-01 9.76073726e-01 -2.48641771e-03 -4.95114548e+01] [-1.09691461e-02 1.03777767e-04 9.99939832e-01 -4.88510039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86862385300003 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:236.17, Y:-49.52, Z:-4.88 [[ 9.75657863e-01 2.19039226e-01 1.06560495e-02 2.36167631e+02] [-2.19025215e-01 9.75716050e-01 -2.47889147e-03 -4.95169350e+01] [-1.09402530e-02 8.46064248e-05 9.99940150e-01 -4.87657997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89862385300003 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:236.19, Y:-49.52, Z:-4.89 [[ 9.74943751e-01 2.22153123e-01 1.15183337e-02 2.36193153e+02] [-2.22136980e-01 9.75011788e-01 -2.67856729e-03 -4.95235320e+01] [-1.18255633e-02 5.28045664e-05 9.99930074e-01 -4.88589273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.928623853 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:236.22, Y:-49.53, Z:-4.89 [[ 9.74663737e-01 2.23360923e-01 1.18531993e-02 2.36220059e+02] [-2.23343933e-01 9.74735809e-01 -2.75522741e-03 -4.95294548e+01] [-1.21691479e-02 3.80801016e-05 9.99925952e-01 -4.88644443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.958623853 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:236.25, Y:-49.54, Z:-4.89 [[ 9.74248008e-01 2.25147765e-01 1.22189752e-02 2.36246780e+02] [-2.25129861e-01 9.74324629e-01 -2.83936337e-03 -4.95358148e+01] [-1.25445248e-02 1.53879082e-05 9.99921314e-01 -4.88676200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.988623853 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:236.27, Y:-49.54, Z:-4.89 [[ 9.74171293e-01 2.25468703e-01 1.24159866e-02 2.36274316e+02] [-2.25450258e-01 9.74250411e-01 -2.88393953e-03 -4.95426499e+01] [-1.27465182e-02 1.02637103e-05 9.99918760e-01 -4.88720465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.018623853 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:236.30, Y:-49.55, Z:-4.89 [[ 9.74157238e-01 2.25505072e-01 1.28506309e-02 2.36300570e+02] [-2.25485328e-01 9.74241994e-01 -2.98396118e-03 -4.95487000e+01] [-1.31925226e-02 9.21865983e-06 9.99912975e-01 -4.88782900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.048623853 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:236.33, Y:-49.55, Z:-4.89 [[ 9.74406741e-01 2.24450924e-01 1.23808396e-02 2.36327920e+02] [-2.24432527e-01 9.74485394e-01 -2.87379343e-03 -4.95546821e+01] [-1.27099729e-02 2.15805861e-05 9.99919225e-01 -4.88812824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.078623853 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:236.35, Y:-49.56, Z:-4.89 [[ 9.74724868e-01 2.23084364e-01 1.20332281e-02 2.36354075e+02] [-2.23066891e-01 9.74799141e-01 -2.79232833e-03 -4.95610117e+01] [-1.23529052e-02 3.75370868e-05 9.99923699e-01 -4.88866438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.108623853 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:236.38, Y:-49.57, Z:-4.89 [[ 9.75379264e-01 2.20217514e-01 1.18125797e-02 2.36381004e+02] [-2.20200479e-01 9.75450789e-01 -2.74003666e-03 -4.95692071e+01] [-1.21259942e-02 7.14392388e-05 9.99926475e-01 -4.89055061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.138623853 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:236.41, Y:-49.58, Z:-4.89 [[ 9.75748858e-01 2.18613092e-01 1.10671702e-02 2.36407791e+02] [-2.18598043e-01 9.75811616e-01 -2.56640578e-03 -4.95766818e+01] [-1.13605231e-02 8.49057621e-05 9.99935464e-01 -4.89108613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.168623853 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:236.43, Y:-49.58, Z:-4.89 [[ 9.76125275e-01 2.16935788e-01 1.08771416e-02 2.36434539e+02] [-2.16921157e-01 9.76185870e-01 -2.52157245e-03 -4.95841769e+01] [-1.11651312e-02 1.01888457e-04 9.99937663e-01 -4.89166784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19862385300002 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:236.46, Y:-49.59, Z:-4.89 [[ 9.76858957e-01 2.13606761e-01 1.08963104e-02 2.36461626e+02] [-2.13591880e-01 9.76919716e-01 -2.52522368e-03 -4.95930636e+01] [-1.11842253e-02 1.39423952e-04 9.99937445e-01 -4.89241150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22862385300002 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:236.49, Y:-49.60, Z:-4.89 [[ 9.77238398e-01 2.11870311e-01 1.07742584e-02 2.36488055e+02] [-2.11855665e-01 9.77297778e-01 -2.49616870e-03 -4.96008560e+01] [-1.10585229e-02 1.56764226e-04 9.99938840e-01 -4.89307946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25862385300002 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:236.51, Y:-49.61, Z:-4.89 [[ 9.77915283e-01 2.08742393e-01 1.04073807e-02 2.36513714e+02] [-2.08728556e-01 9.77970643e-01 -2.41054315e-03 -4.96107565e+01] [-1.06812953e-02 1.84989443e-04 9.99942936e-01 -4.89382286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28862385300002 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:236.54, Y:-49.62, Z:-4.89 [[ 9.78242357e-01 2.07196354e-01 1.05623001e-02 2.36539833e+02] [-2.07182020e-01 9.78299356e-01 -2.44568458e-03 -4.96187410e+01] [-1.08398283e-02 2.04153567e-04 9.99941226e-01 -4.89421720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31862385300002 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:236.57, Y:-49.63, Z:-4.89 [[ 9.78510019e-01 2.05904392e-01 1.10238112e-02 2.36567072e+02] [-2.05888714e-01 9.78572087e-01 -2.55097009e-03 -4.96270449e+01] [-1.13128499e-02 2.26471496e-04 9.99935982e-01 -4.89465390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34862385300002 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:236.59, Y:-49.64, Z:-4.89 [[ 9.79014999e-01 2.03428057e-01 1.21101860e-02 2.36593485e+02] [-2.03408960e-01 9.79089857e-01 -2.80134619e-03 -4.96373791e+01] [-1.24268327e-02 2.79239606e-04 9.99922745e-01 -4.89436947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37862385300002 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:236.62, Y:-49.65, Z:-4.89 [[ 9.79287596e-01 2.02107617e-01 1.21784812e-02 2.36620442e+02] [-2.02088213e-01 9.79363274e-01 -2.81615079e-03 -4.96457576e+01] [-1.24963228e-02 2.96694026e-04 9.99921874e-01 -4.89484313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40862385300002 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:236.65, Y:-49.65, Z:-4.90 [[ 9.79541021e-01 2.00903822e-01 1.17064931e-02 2.36647611e+02] [-2.00885817e-01 9.79610925e-01 -2.70625426e-03 -4.96545691e+01] [-1.20115053e-02 2.99218633e-04 9.99927814e-01 -4.89541346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43862385300002 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:236.67, Y:-49.67, Z:-4.90 [[ 9.79907495e-01 1.99151425e-01 1.09549485e-02 2.36674472e+02] [-1.99135554e-01 9.79968683e-01 -2.53202941e-03 -4.96663037e+01] [-1.12397637e-02 2.99634867e-04 9.99936787e-01 -4.89652309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46862385300003 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:236.70, Y:-49.67, Z:-4.90 [[ 9.79985667e-01 1.98782238e-01 1.06637027e-02 2.36701344e+02] [-1.98767182e-01 9.80043639e-01 -2.46430409e-03 -4.96749563e+01] [-1.09407538e-02 2.95388558e-04 9.99940105e-01 -4.89681849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49862385300003 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:236.73, Y:-49.69, Z:-4.90 [[ 9.79991051e-01 1.98755082e-01 1.06750474e-02 2.36728421e+02] [-1.98740000e-01 9.80049147e-01 -2.46615461e-03 -4.96868303e+01] [-1.09522319e-02 2.95250517e-04 9.99939979e-01 -4.89747664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52862385300003 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:236.76, Y:-49.70, Z:-4.90 [[ 9.79950876e-01 1.98943209e-01 1.08572279e-02 2.36755542e+02] [-1.98927626e-01 9.80010975e-01 -2.50770137e-03 -4.96957293e+01] [-1.11390927e-02 2.97621575e-04 9.99937914e-01 -4.89753655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55862385300003 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:236.78, Y:-49.70, Z:-4.90 [[ 9.79825920e-01 1.99550622e-01 1.09871221e-02 2.36781812e+02] [-1.99534707e-01 9.79887475e-01 -2.53723800e-03 -4.97049103e+01] [-1.12724508e-02 2.93739364e-04 9.99936421e-01 -4.89806356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58862385300003 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:236.81, Y:-49.72, Z:-4.90 [[ 9.79525748e-01 2.01030568e-01 1.07712518e-02 2.36808761e+02] [-2.01015370e-01 9.79584931e-01 -2.48662826e-03 -4.97166104e+01] [-1.10512443e-02 2.70529228e-04 9.99938897e-01 -4.89830234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61862385300003 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:236.84, Y:-49.72, Z:-4.90 [[ 9.79328009e-01 2.01997820e-01 1.06550844e-02 2.36835036e+02] [-2.01983009e-01 9.79385938e-01 -2.45943462e-03 -4.97249256e+01] [-1.09322403e-02 2.56447199e-04 9.99940208e-01 -4.89865539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64862385300003 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:236.86, Y:-49.74, Z:-4.90 [[ 9.78771924e-01 2.04642428e-01 1.12693265e-02 2.36862465e+02] [-2.04626049e-01 9.78836769e-01 -2.60010907e-03 -4.97364147e+01] [-1.15629237e-02 2.38916013e-04 9.99933119e-01 -4.89878761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.678623853 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:236.89, Y:-49.75, Z:-4.90 [[ 9.78484586e-01 2.05978286e-01 1.18684953e-02 2.36889905e+02] [-2.05960220e-01 9.78556534e-01 -2.73811222e-03 -4.97455092e+01] [-1.21779853e-02 2.34762704e-04 9.99925818e-01 -4.89882419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.708623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:236.92, Y:-49.75, Z:-4.90 [[ 9.78209400e-01 2.07271761e-01 1.20327644e-02 2.36916356e+02] [-2.07253293e-01 9.78283378e-01 -2.77569906e-03 -4.97540703e+01] [-1.23467775e-02 2.21384855e-04 9.99923751e-01 -4.89912846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.738623853 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:236.94, Y:-49.77, Z:-4.90 [[ 9.77583020e-01 2.10201450e-01 1.21156672e-02 2.36943599e+02] [-2.10182962e-01 9.77658077e-01 -2.79398324e-03 -4.97652125e+01] [-1.24322793e-02 1.84843752e-04 9.99922699e-01 -4.89906325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.768623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:236.97, Y:-49.77, Z:-4.90 [[ 9.77246375e-01 2.11749346e-01 1.23181352e-02 2.36971013e+02] [-2.11730365e-01 9.77323993e-01 -2.84005455e-03 -4.97734807e+01] [-1.26401888e-02 1.67309745e-04 9.99920096e-01 -4.89928272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.798623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:237.00, Y:-49.78, Z:-4.90 [[ 9.76893924e-01 2.13368135e-01 1.23409808e-02 2.36999017e+02] [-2.13349220e-01 9.76971861e-01 -2.84470926e-03 -4.97821443e+01] [-1.26637613e-02 1.46040554e-04 9.99919801e-01 -4.89991341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.828623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:237.03, Y:-49.79, Z:-4.90 [[ 9.76160377e-01 2.16728618e-01 1.18162641e-02 2.37026812e+02] [-2.16711533e-01 9.76231887e-01 -2.72303802e-03 -4.97920510e+01] [-1.21255740e-02 9.74011203e-05 9.99926478e-01 -4.90007506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.858623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:237.05, Y:-49.80, Z:-4.90 [[ 9.75604397e-01 2.19226377e-01 1.16557584e-02 2.37053764e+02] [-2.19209933e-01 9.75674019e-01 -2.68584786e-03 -4.98023718e+01] [-1.19610294e-02 6.52669524e-05 9.99928462e-01 -4.90080005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.888623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:237.08, Y:-49.81, Z:-4.89 [[ 9.75371989e-01 2.20279206e-01 1.12496616e-02 2.37080392e+02] [-2.20263961e-01 9.75436861e-01 -2.59202807e-03 -4.98099733e+01] [-1.15443045e-02 5.02965428e-05 9.99933361e-01 -4.89420010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.918623853 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:237.11, Y:-49.82, Z:-4.90 [[ 9.75185376e-01 2.21105341e-01 1.12210281e-02 2.37108894e+02] [-2.21090239e-01 9.75249930e-01 -2.58449375e-03 -4.98195155e+01] [-1.15147522e-02 3.95007283e-05 9.99933702e-01 -4.90235366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94862385300002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:237.14, Y:-49.83, Z:-4.90 [[ 9.75048675e-01 2.21731088e-01 1.07427372e-02 2.37137765e+02] [-2.21717287e-01 9.75107852e-01 -2.47408848e-03 -4.98279318e+01] [-1.10239097e-02 3.05061467e-05 9.99939234e-01 -4.90275141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:237.17, Y:-49.84, Z:-4.90 [[ 9.74735286e-01 2.23104063e-01 1.07563314e-02 2.37165892e+02] [-2.23090314e-01 9.74794633e-01 -2.47695641e-03 -4.98383971e+01] [-1.10378332e-02 1.47434586e-05 9.99939081e-01 -4.90305630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00862385300002 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:237.19, Y:-49.85, Z:-4.90 [[ 9.74619978e-01 2.23599359e-01 1.09190299e-02 2.37193915e+02] [-2.23585228e-01 9.74681141e-01 -2.51381446e-03 -4.98473907e+01] [-1.12046598e-02 8.68000744e-06 9.99937226e-01 -4.90370103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03862385300002 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:237.22, Y:-49.86, Z:-4.90 [[ 9.74461145e-01 2.24275761e-01 1.12187499e-02 2.37223043e+02] [-2.24260885e-01 9.74525722e-01 -2.58309466e-03 -4.98586318e+01] [-1.15122858e-02 1.19860502e-06 9.99933731e-01 -4.90355362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06862385300002 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:237.25, Y:-49.87, Z:-4.90 [[ 9.74417428e-01 2.24460766e-01 1.13155460e-02 2.37252249e+02] [-2.24445644e-01 9.74483127e-01 -2.60538177e-03 -4.98673133e+01] [-1.16116146e-02 -9.95607605e-07 9.99932583e-01 -4.90389913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:237.28, Y:-49.88, Z:-4.90 [[ 9.74344332e-01 2.24764085e-01 1.15857496e-02 2.37281704e+02] [-2.24748256e-01 9.74413211e-01 -2.66750436e-03 -4.98758951e+01] [-1.18888666e-02 -4.80925634e-06 9.99929325e-01 -4.90427879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12862385300002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:237.31, Y:-49.89, Z:-4.90 [[ 9.74072654e-01 2.25900944e-01 1.22975179e-02 2.37311602e+02] [-2.25883199e-01 9.74150278e-01 -2.83147089e-03 -4.98857704e+01] [-1.26192624e-02 -1.97443233e-05 9.99920374e-01 -4.90465908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15862385300002 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:237.34, Y:-49.89, Z:-4.90 [[ 9.73874340e-01 2.26787685e-01 1.16668733e-02 2.37340838e+02] [-2.26771773e-01 9.73944221e-01 -2.68662570e-03 -4.98932888e+01] [-1.19721774e-02 -2.92817115e-05 9.99928330e-01 -4.89807582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18862385300002 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:237.37, Y:-49.90, Z:-4.91 [[ 9.73673158e-01 2.27674248e-01 1.11811874e-02 2.37370742e+02] [-2.27659691e-01 9.73737354e-01 -2.57481871e-03 -4.99041390e+01] [-1.14737597e-02 -3.84737945e-05 9.99934174e-01 -4.90583292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:237.40, Y:-49.91, Z:-4.91 [[ 9.73541173e-01 2.28247467e-01 1.09853448e-02 2.37399529e+02] [-2.28233448e-01 9.73603149e-01 -2.53008265e-03 -4.99130270e+01] [-1.12728512e-02 -4.40834850e-05 9.99936458e-01 -4.90687143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24862385300003 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:237.43, Y:-49.92, Z:-4.91 [[ 9.73403303e-01 2.28846653e-01 1.07339835e-02 2.37429523e+02] [-2.28833304e-01 9.73462484e-01 -2.47221283e-03 -4.99218017e+01] [-1.10148879e-02 -4.98327754e-05 9.99939333e-01 -4.90708092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27862385300003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:237.46, Y:-49.93, Z:-4.91 [[ 9.72929866e-01 2.30842807e-01 1.09121057e-02 2.37459052e+02] [-2.30829146e-01 9.72991055e-01 -2.51242950e-03 -4.99321421e+01] [-1.11973575e-02 -7.44143365e-05 9.99937305e-01 -4.90696646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:237.49, Y:-49.94, Z:-4.91 [[ 9.72623578e-01 2.32122310e-01 1.10728529e-02 2.37488973e+02] [-2.32108293e-01 9.72686602e-01 -2.55237495e-03 -4.99401310e+01] [-1.13628788e-02 -8.76009236e-05 9.99935437e-01 -4.90723004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.52, Y:-49.95, Z:-4.91 [[ 9.71929452e-01 2.35009124e-01 1.11288381e-02 2.37518685e+02] [-2.34995150e-01 9.71993157e-01 -2.56565392e-03 -4.99475526e+01] [-1.14201066e-02 -1.21588374e-04 9.99934781e-01 -4.90812529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.55, Y:-49.96, Z:-4.91 [[ 9.71597939e-01 2.36372240e-01 1.12075047e-02 2.37548419e+02] [-2.36358156e-01 9.71662567e-01 -2.58402352e-03 -4.99551049e+01] [-1.15007042e-02 -1.38353213e-04 9.99933855e-01 -4.90901194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.58, Y:-49.96, Z:-4.91 [[ 9.71296001e-01 2.37619945e-01 1.09927676e-02 2.37577729e+02] [-2.37606476e-01 9.71358193e-01 -2.53441831e-03 -4.99627798e+01] [-1.12801432e-02 -1.50282399e-04 9.99936366e-01 -4.90970946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.428623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.61, Y:-49.97, Z:-4.91 [[ 9.70829172e-01 2.39570465e-01 9.83422384e-03 2.37606511e+02] [-2.39559785e-01 9.70878967e-01 -2.26739548e-03 -4.99696279e+01] [-1.00910421e-02 -1.54630873e-04 9.99949072e-01 -4.91047304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:237.64, Y:-49.98, Z:-4.91 [[ 9.70836997e-01 2.39538755e-01 9.83410051e-03 2.37635110e+02] [-2.39528068e-01 9.70886791e-01 -2.26793036e-03 -4.99761340e+01] [-1.00910555e-02 -1.53752389e-04 9.99949072e-01 -4.91103904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.488623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:237.66, Y:-49.98, Z:-4.91 [[ 9.70657959e-01 2.40278410e-01 9.45578343e-03 2.37663758e+02] [-2.40268568e-01 9.70704003e-01 -2.18028570e-03 -4.99823002e+01] [-9.70264241e-03 -1.55615878e-04 9.99952916e-01 -4.91164678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.518623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:237.69, Y:-49.99, Z:-4.91 [[ 9.70518376e-01 2.40845395e-01 9.35828472e-03 2.37692660e+02] [-2.40835783e-01 9.70563481e-01 -2.15758397e-03 -4.99886799e+01] [-9.60245355e-03 -1.59834941e-04 9.99953883e-01 -4.91216348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.548623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:237.72, Y:-49.99, Z:-4.91 [[ 9.70368143e-01 2.41425919e-01 9.95951560e-03 2.37721821e+02] [-2.41415066e-01 9.70419236e-01 -2.29593238e-03 -4.99946769e+01] [-1.02192031e-02 -1.76477476e-04 9.99947767e-01 -4.91204883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.578623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:237.75, Y:-50.00, Z:-4.91 [[ 9.70408223e-01 2.41239972e-01 1.05430726e-02 2.37750049e+02] [-2.41227801e-01 9.70465477e-01 -2.43027580e-03 -5.00001259e+01] [-1.08179676e-02 -1.84922598e-04 9.99941467e-01 -4.91201967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.608623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:237.78, Y:-50.01, Z:-4.91 [[ 9.70594169e-01 2.40418246e-01 1.20841555e-02 2.37780833e+02] [-2.40402205e-01 9.70669370e-01 -2.78456629e-03 -5.00061680e+01] [-1.23991801e-02 -2.02373825e-04 9.99923107e-01 -4.91161958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.81, Y:-50.01, Z:-4.91 [[ 9.70743811e-01 2.39788127e-01 1.25740734e-02 2.37810790e+02] [-2.39770713e-01 9.70825223e-01 -2.89692899e-03 -5.00133036e+01] [-1.29018768e-02 -2.02718643e-04 9.99916747e-01 -4.91180944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.668623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.84, Y:-50.02, Z:-4.91 [[ 9.70899085e-01 2.39133624e-01 1.30413352e-02 2.37842125e+02] [-2.39114804e-01 9.70986648e-01 -3.00676820e-03 -5.00207887e+01] [-1.33819818e-02 -1.99107819e-04 9.99910437e-01 -4.91219941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69862385300002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.87, Y:-50.03, Z:-4.91 [[ 9.71491269e-01 2.36696650e-01 1.33944188e-02 2.37872320e+02] [-2.36676529e-01 9.71583588e-01 -3.09073751e-03 -5.00266657e+01] [-1.37453647e-02 -1.67520051e-04 9.99905514e-01 -4.91225482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72862385300002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.90, Y:-50.03, Z:-4.91 [[ 9.71860693e-01 2.35160899e-01 1.36435220e-02 2.37901204e+02] [-2.35139826e-01 9.71956445e-01 -3.15149697e-03 -5.00322121e+01] [-1.40020180e-02 -1.45319364e-04 9.99901956e-01 -4.91293946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75862385300002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:237.93, Y:-50.04, Z:-4.91 [[ 9.72668208e-01 2.31859695e-01 1.25554549e-02 2.37929764e+02] [-2.31841578e-01 9.72749235e-01 -2.89982994e-03 -5.00379465e+01] [-1.28856629e-02 -9.03040999e-05 9.99916972e-01 -4.91365625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78862385300002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.96, Y:-50.04, Z:-4.92 [[ 9.73091276e-01 2.30093588e-01 1.22600949e-02 2.37960709e+02] [-2.30076178e-01 9.73168504e-01 -2.83123695e-03 -5.00448412e+01] [-1.25825877e-02 -6.57038191e-05 9.99920834e-01 -4.91507127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81862385300002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:237.99, Y:-50.05, Z:-4.92 [[ 9.73470830e-01 2.28509756e-01 1.17403014e-02 2.37991676e+02] [-2.28493685e-01 9.73541622e-01 -2.71039002e-03 -5.00521149e+01] [-1.20490226e-02 -4.40991061e-05 9.99927407e-01 -4.91562210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.02, Y:-50.06, Z:-4.92 [[ 9.73839093e-01 2.26950820e-01 1.14343919e-02 2.38022029e+02] [-2.26935445e-01 9.73906220e-01 -2.64180200e-03 -5.00592162e+01] [-1.17355845e-02 -2.21787445e-05 9.99931135e-01 -4.91654759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.05, Y:-50.07, Z:-4.92 [[ 9.74455226e-01 2.24333464e-01 1.05598313e-02 2.38053209e+02] [-2.24320182e-01 9.74512441e-01 -2.44114161e-03 -5.00665445e+01] [-1.08383167e-02 9.99991791e-06 9.99941264e-01 -4.91723314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:238.08, Y:-50.07, Z:-4.92 [[ 9.74943530e-01 2.22211895e-01 1.03434977e-02 2.38084113e+02] [-2.22199000e-01 9.74998396e-01 -2.39413780e-03 -5.00734802e+01] [-1.06168996e-02 3.58343009e-05 9.99943638e-01 -4.91746353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.11, Y:-50.08, Z:-4.92 [[ 9.75106986e-01 2.21474170e-01 1.07498183e-02 2.38114701e+02] [-2.21460194e-01 9.75166237e-01 -2.48847404e-03 -5.00808167e+01] [-1.10339926e-02 4.58715612e-05 9.99939123e-01 -4.91772544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:238.14, Y:-50.09, Z:-4.92 [[ 9.75208138e-01 2.21009343e-01 1.11336236e-02 2.38144745e+02] [-2.20994329e-01 9.75271689e-01 -2.57657074e-03 -5.00880105e+01] [-1.14277541e-02 5.22250784e-05 9.99934700e-01 -4.91839750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.18, Y:-50.09, Z:-4.92 [[ 9.75360038e-01 2.20308029e-01 1.17119015e-02 2.38175140e+02] [-2.20291328e-01 9.75430350e-01 -2.71342088e-03 -5.00947840e+01] [-1.20219326e-02 6.65319569e-05 9.99927732e-01 -4.91883621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:238.20, Y:-50.10, Z:-4.92 [[ 9.75405019e-01 2.20093292e-01 1.19996624e-02 2.38204967e+02] [-2.20075740e-01 9.75478825e-01 -2.78047657e-03 -5.01012166e+01] [-1.23173808e-02 7.12562236e-05 9.99924136e-01 -4.91941505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.23, Y:-50.11, Z:-4.92 [[ 9.75476223e-01 2.19789549e-01 1.17767637e-02 2.38232470e+02] [-2.19772616e-01 9.75547307e-01 -2.72922371e-03 -5.01081861e+01] [-1.20886449e-02 7.40826695e-05 9.99926927e-01 -4.91953193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08862385300003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:238.26, Y:-50.12, Z:-4.92 [[ 9.75550659e-01 2.19495266e-01 1.10787980e-02 2.38260114e+02] [-2.19480264e-01 9.75613562e-01 -2.56722623e-03 -5.01152670e+01] [-1.13721196e-02 7.28817229e-05 9.99935333e-01 -4.91993846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11862385300003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:238.29, Y:-50.12, Z:-4.92 [[ 9.75537827e-01 2.19555147e-01 1.10220443e-02 2.38291043e+02] [-2.19540310e-01 9.75600088e-01 -2.55343508e-03 -5.01224565e+01] [-1.13137272e-02 7.11894983e-05 9.99935995e-01 -4.92058841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.32, Y:-50.13, Z:-4.92 [[ 9.75477184e-01 2.19831633e-01 1.08773527e-02 2.38320248e+02] [-2.19817196e-01 9.75537825e-01 -2.52026993e-03 -5.01291101e+01] [-1.11653041e-02 6.74366366e-05 9.99937664e-01 -4.92140956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.178623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.35, Y:-50.14, Z:-4.92 [[ 9.75376543e-01 2.20271422e-01 1.10045294e-02 2.38349459e+02] [-2.20256671e-01 9.75438618e-01 -2.54996653e-03 -5.01365046e+01] [-1.12959277e-02 6.33565284e-05 9.99936197e-01 -4.92145676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.208623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.38, Y:-50.14, Z:-4.92 [[ 9.75069387e-01 2.21578831e-01 1.19378189e-02 2.38379252e+02] [-2.21561571e-01 9.75142461e-01 -2.76605951e-03 -5.01447861e+01] [-1.22539744e-02 5.21380297e-05 9.99924916e-01 -4.92207370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.238623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.41, Y:-50.15, Z:-4.92 [[ 9.74857115e-01 2.22528305e-01 1.16086018e-02 2.38409067e+02] [-2.22512047e-01 9.74926229e-01 -2.69013979e-03 -5.01522910e+01] [-1.19161626e-02 3.94481633e-05 9.99928999e-01 -4.92205686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.268623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.44, Y:-50.16, Z:-4.92 [[ 9.74583122e-01 2.23743637e-01 1.12482154e-02 2.38437009e+02] [-2.23728448e-01 9.74648031e-01 -2.60718563e-03 -5.01587226e+01] [-1.15463922e-02 2.43733284e-05 9.99933338e-01 -4.91536527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.298623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.46, Y:-50.17, Z:-4.92 [[ 9.74065504e-01 2.25942290e-01 1.21026693e-02 2.38463433e+02] [-2.25924882e-01 9.74140689e-01 -2.80470311e-03 -5.01662610e+01] [-1.24234037e-02 -2.32959251e-06 9.99922827e-01 -4.92300492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.328623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:238.49, Y:-50.17, Z:-4.92 [[ 9.73733861e-01 2.27352101e-01 1.23850781e-02 2.38491724e+02] [-2.27333994e-01 9.73812622e-01 -2.86935752e-03 -5.01733201e+01] [-1.27130999e-02 -2.15587016e-05 9.99919185e-01 -4.92344448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.358623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:238.52, Y:-50.18, Z:-4.92 [[ 9.73008575e-01 2.30434613e-01 1.24178261e-02 2.38521746e+02] [-2.30416674e-01 9.73087810e-01 -2.87596027e-03 -5.01807925e+01] [-1.27463560e-02 -6.29401824e-05 9.99918760e-01 -4.92403365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.388623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.55, Y:-50.19, Z:-4.92 [[ 9.72564282e-01 2.32306480e-01 1.23457602e-02 2.38551035e+02] [-2.32288894e-01 9.72642633e-01 -2.85964990e-03 -5.01876866e+01] [-1.26723279e-02 -8.65896401e-05 9.99919699e-01 -4.92476804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.418623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.58, Y:-50.19, Z:-4.93 [[ 9.71657119e-01 2.36063766e-01 1.25036887e-02 2.38580879e+02] [-2.36046036e-01 9.71737557e-01 -2.89646406e-03 -5.01942553e+01] [-1.28340541e-02 -1.37076224e-04 9.99917631e-01 -4.92502570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:238.61, Y:-50.20, Z:-4.93 [[ 9.71179042e-01 2.38035199e-01 1.22683724e-02 2.38611196e+02] [-2.38018289e-01 9.71256515e-01 -2.84179276e-03 -5.02004737e+01] [-1.25921834e-02 -1.60207447e-04 9.99920702e-01 -4.92522499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47862385300002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.64, Y:-50.21, Z:-4.92 [[ 9.70656662e-01 2.40184229e-01 1.17124350e-02 2.38640846e+02] [-2.40168968e-01 9.70727307e-01 -2.71345925e-03 -5.02059550e+01] [-1.20213106e-02 -1.79126126e-04 9.99927725e-01 -4.92006695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.67, Y:-50.21, Z:-4.93 [[ 9.69749945e-01 2.43811219e-01 1.18799882e-02 2.38668980e+02] [-2.43795787e-01 9.69822684e-01 -2.75253063e-03 -5.02111900e+01] [-1.21925799e-02 -2.27024635e-04 9.99925642e-01 -4.92664434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.70, Y:-50.22, Z:-4.93 [[ 9.69296027e-01 2.45600721e-01 1.20622153e-02 2.38698641e+02] [-2.45584959e-01 9.69371044e-01 -2.79405140e-03 -5.02162668e+01] [-1.23789832e-02 -2.54035720e-04 9.99923345e-01 -4.92704075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.73, Y:-50.22, Z:-4.93 [[ 9.68570271e-01 2.48411212e-01 1.27866978e-02 2.38727573e+02] [-2.48393741e-01 9.68654621e-01 -2.96209060e-03 -5.02190591e+01] [-1.31217105e-02 -3.07142808e-04 9.99913859e-01 -4.92729795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.76, Y:-50.22, Z:-4.93 [[ 9.68299558e-01 2.49453101e-01 1.30044659e-02 2.38757015e+02] [-2.49435132e-01 9.68386825e-01 -3.01197356e-03 -5.02241177e+01] [-1.33446995e-02 -3.27277986e-04 9.99910902e-01 -4.92812531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.79, Y:-50.23, Z:-4.93 [[ 9.68186555e-01 2.49883148e-01 1.31608180e-02 2.38786881e+02] [-2.49864788e-01 9.68275941e-01 -3.04785289e-03 -5.02281805e+01] [-1.35049106e-02 -3.37534826e-04 9.99908748e-01 -4.92909832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.82, Y:-50.23, Z:-4.92 [[ 9.68304212e-01 2.49463510e-01 1.24462932e-02 2.38815358e+02] [-2.49447058e-01 9.68384148e-01 -2.88211338e-03 -5.02327429e+01] [-1.27717752e-02 -3.13928709e-04 9.99918388e-01 -4.92396394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.84, Y:-50.24, Z:-4.93 [[ 9.68582958e-01 2.48378644e-01 1.24539833e-02 2.38842714e+02] [-2.48362084e-01 9.68662975e-01 -2.88377054e-03 -5.02381456e+01] [-1.27799795e-02 -2.99926241e-04 9.99918288e-01 -4.93148981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:238.87, Y:-50.24, Z:-4.93 [[ 9.69296684e-01 2.45600067e-01 1.20226813e-02 2.38871683e+02] [-2.45584430e-01 9.69371210e-01 -2.78312311e-03 -5.02423667e+01] [-1.23379763e-02 -2.54911316e-04 9.99923852e-01 -4.93216714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.90, Y:-50.25, Z:-4.93 [[ 9.69738297e-01 2.43842377e-01 1.21872995e-02 2.38900385e+02] [-2.43826177e-01 9.69814848e-01 -2.82062719e-03 -5.02479338e+01] [-1.25072124e-02 -2.36312431e-04 9.99921754e-01 -4.93306911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:238.93, Y:-50.25, Z:-4.93 [[ 9.70701359e-01 2.40018644e-01 1.13983280e-02 2.38929328e+02] [-2.40004216e-01 9.70768263e-01 -2.63753787e-03 -5.02519413e+01] [-1.16981933e-02 -1.75385177e-04 9.99931558e-01 -4.92600628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.96, Y:-50.26, Z:-4.93 [[ 9.71244330e-01 2.37835902e-01 1.08874233e-02 2.38956339e+02] [-2.37822604e-01 9.71305340e-01 -2.51898874e-03 -5.02575153e+01] [-1.11741184e-02 -1.42721840e-04 9.99937557e-01 -4.92683839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:238.98, Y:-50.26, Z:-4.93 [[ 9.72140237e-01 2.34123570e-01 1.13804194e-02 2.38984590e+02] [-2.34108798e-01 9.72206842e-01 -2.63206783e-03 -5.02636438e+01] [-1.16803507e-02 -1.05517261e-04 9.99931777e-01 -4.93495943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:239.01, Y:-50.27, Z:-4.94 [[ 9.72559080e-01 2.32372727e-01 1.14783205e-02 2.39013080e+02] [-2.32357585e-01 9.72626808e-01 -2.65405498e-03 -5.02690580e+01] [-1.17808522e-02 -8.58495698e-05 9.99930600e-01 -4.93575757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.04, Y:-50.27, Z:-4.94 [[ 9.72994128e-01 2.30531701e-01 1.17287074e-02 2.39041537e+02] [-2.30515762e-01 9.73064813e-01 -2.71159513e-03 -5.02740590e+01] [-1.20379012e-02 -6.52857941e-05 9.99927540e-01 -4.93601642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.928623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.07, Y:-50.28, Z:-4.94 [[ 9.73375039e-01 2.28901026e-01 1.20562485e-02 2.39069166e+02] [-2.28884066e-01 9.73449700e-01 -2.78684339e-03 -5.02790624e+01] [-1.23740628e-02 -4.68393794e-05 9.99923437e-01 -4.93708460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.958623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:239.10, Y:-50.28, Z:-4.93 [[ 9.73990566e-01 2.26281977e-01 1.17831843e-02 2.39096589e+02] [-2.26265594e-01 9.74061839e-01 -2.72288252e-03 -5.02839412e+01] [-1.20936894e-02 -1.40673174e-05 9.99926869e-01 -4.92973554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.988623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:239.12, Y:-50.29, Z:-4.94 [[ 9.74321918e-01 2.24824760e-01 1.22730689e-02 2.39124322e+02] [-2.24806882e-01 9.74399213e-01 -2.83524613e-03 -5.02915035e+01] [-1.25963022e-02 3.37210529e-06 9.99920663e-01 -4.93849465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.018623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.15, Y:-50.30, Z:-4.94 [[ 9.74834506e-01 2.22644237e-01 1.12796171e-02 2.39151968e+02] [-2.22628996e-01 9.74899760e-01 -2.60518566e-03 -5.02986539e+01] [-1.15765256e-02 2.84550505e-05 9.99932989e-01 -4.93958750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.048623853 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:239.18, Y:-50.30, Z:-4.93 [[ 9.74997115e-01 2.21974780e-01 1.03837441e-02 2.39178842e+02] [-2.21961828e-01 9.75052407e-01 -2.39815152e-03 -5.03045529e+01] [-1.06570239e-02 3.33959834e-05 9.99943212e-01 -4.93348958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.21, Y:-50.31, Z:-4.94 [[ 9.75074097e-01 2.21620894e-01 1.07091165e-02 2.39207801e+02] [-2.21607106e-01 9.75132903e-01 -2.47234978e-03 -5.03124544e+01] [-1.09907363e-02 3.75079075e-05 9.99939599e-01 -4.94089865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.108623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:239.24, Y:-50.32, Z:-4.94 [[ 9.75037031e-01 2.21745961e-01 1.14681161e-02 2.39235721e+02] [-2.21730161e-01 9.75104470e-01 -2.64734335e-03 -5.03191485e+01] [-1.17696490e-02 3.84305694e-05 9.99930735e-01 -4.94072580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.26, Y:-50.33, Z:-4.94 [[ 9.74920406e-01 2.22244728e-01 1.17253377e-02 2.39262986e+02] [-2.22228250e-01 9.74990913e-01 -2.70647183e-03 -5.03254728e+01] [-1.20335968e-02 3.28933270e-05 9.99927593e-01 -4.94088071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.168623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.29, Y:-50.33, Z:-4.94 [[ 9.74394224e-01 2.24533112e-01 1.18650040e-02 2.39291445e+02] [-2.24516420e-01 9.74466460e-01 -2.73776486e-03 -5.03320028e+01] [-1.21767673e-02 3.77405165e-06 9.99925860e-01 -4.94128994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:-50.34, Z:-4.94 [[ 9.74019594e-01 2.26148734e-01 1.19407087e-02 2.39319949e+02] [-2.26131957e-01 9.74092783e-01 -2.75467628e-03 -5.03382816e+01] [-1.22543247e-02 -1.70671565e-05 9.99924913e-01 -4.94172034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.35, Y:-50.34, Z:-4.94 [[ 9.73628074e-01 2.27823532e-01 1.20337593e-02 2.39348703e+02] [-2.27806629e-01 9.73702437e-01 -2.77543347e-03 -5.03445198e+01] [-1.23496098e-02 -3.91301843e-05 9.99923740e-01 -4.94238897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:239.38, Y:-50.35, Z:-4.94 [[ 9.72859739e-01 2.31093582e-01 1.18188547e-02 2.39376543e+02] [-2.31077521e-01 9.72931524e-01 -2.72560927e-03 -5.03500583e+01] [-1.21288072e-02 -7.94361341e-05 9.99926440e-01 -4.94324564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28862385300002 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:239.41, Y:-50.36, Z:-4.94 [[ 9.72533418e-01 2.32514354e-01 1.07622187e-02 2.39405220e+02] [-2.32501125e-01 9.72592961e-01 -2.48184588e-03 -5.03553862e+01] [-1.10443229e-02 -8.85499016e-05 9.99939006e-01 -4.93665157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:239.43, Y:-50.36, Z:-4.94 [[ 9.72069368e-01 2.34476579e-01 1.00934377e-02 2.39433294e+02] [-2.34465053e-01 9.72121763e-01 -2.32717537e-03 -5.03610108e+01] [-1.03577186e-02 -1.04382514e-04 9.99946352e-01 -4.93722159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.46, Y:-50.37, Z:-4.95 [[ 9.71946577e-01 2.34952489e-01 1.08249583e-02 2.39461624e+02] [-2.34939270e-01 9.72006849e-01 -2.49504535e-03 -5.03681223e+01] [-1.11081507e-02 -1.18157009e-04 9.99938296e-01 -4.94577278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.49, Y:-50.37, Z:-4.95 [[ 9.71949443e-01 2.34940628e-01 1.08250413e-02 2.39491023e+02] [-2.34927413e-01 9.72009716e-01 -2.49468493e-03 -5.03748581e+01] [-1.11081482e-02 -1.18391333e-04 9.99938296e-01 -4.94635476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.52, Y:-50.38, Z:-4.95 [[ 9.71790775e-01 2.35584161e-01 1.10812356e-02 2.39519270e+02] [-2.35570354e-01 9.71853943e-01 -2.55377493e-03 -5.03816334e+01] [-1.13709715e-02 -1.28675674e-04 9.99935340e-01 -4.94702414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43862385300002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:239.55, Y:-50.39, Z:-4.95 [[ 9.71763088e-01 2.35693439e-01 1.11849561e-02 2.39547097e+02] [-2.35679384e-01 9.71827446e-01 -2.57723783e-03 -5.03878795e+01] [-1.14772854e-02 -1.31598978e-04 9.99934125e-01 -4.94755261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:239.58, Y:-50.39, Z:-4.95 [[ 9.71670930e-01 2.36074429e-01 1.11564676e-02 2.39576350e+02] [-2.36060477e-01 9.71734967e-01 -2.57016250e-03 -5.03949925e+01] [-1.14478793e-02 -1.36248888e-04 9.99934462e-01 -4.94753540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:239.61, Y:-50.40, Z:-4.95 [[ 9.71470500e-01 2.36893234e-01 1.12545229e-02 2.39605057e+02] [-2.36879093e-01 9.71535678e-01 -2.59255340e-03 -5.03998549e+01] [-1.15483289e-02 -1.47372033e-04 9.99933305e-01 -4.94799920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52862385300003 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:239.63, Y:-50.41, Z:-4.95 [[ 9.71354711e-01 2.37382053e-01 1.09446620e-02 2.39633779e+02] [-2.37368715e-01 9.71416357e-01 -2.52085382e-03 -5.04052946e+01] [-1.12302292e-02 -1.49277126e-04 9.99936928e-01 -4.94896002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:239.66, Y:-50.41, Z:-4.95 [[ 9.71350427e-01 2.37430063e-01 1.02622198e-02 2.39662187e+02] [-2.37418343e-01 9.71404625e-01 -2.36323999e-03 -5.04106213e+01] [-1.05298720e-02 -1.40905058e-04 9.99944549e-01 -4.95054140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58862385300003 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:239.69, Y:-50.42, Z:-4.94 [[ 9.71469996e-01 2.36974112e-01 9.45082053e-03 2.39690342e+02] [-2.36964154e-01 9.71515957e-01 -2.17600933e-03 -5.04159115e+01] [-9.69728083e-03 -1.25577923e-04 9.99952972e-01 -4.94364224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.72, Y:-50.42, Z:-4.95 [[ 9.71815726e-01 2.35519359e-01 1.02384578e-02 2.39717414e+02] [-2.35507597e-01 9.71869650e-01 -2.35687764e-03 -5.04227453e+01] [-1.05055367e-02 -1.20783825e-04 9.99944808e-01 -4.95151231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64862385300003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:239.75, Y:-50.43, Z:-4.95 [[ 9.72019417e-01 2.34643851e-01 1.09779722e-02 2.39745430e+02] [-2.34630282e-01 9.72081400e-01 -2.52625210e-03 -5.04291016e+01] [-1.12642521e-02 -1.20198627e-04 9.99936549e-01 -4.95142941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.678623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:239.77, Y:-50.44, Z:-4.95 [[ 9.72297573e-01 2.33467863e-01 1.14099219e-02 2.39772476e+02] [-2.33453130e-01 9.72364512e-01 -2.62514236e-03 -5.04350460e+01] [-1.17074895e-02 -1.11262426e-04 9.99931459e-01 -4.95172523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.708623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:239.80, Y:-50.44, Z:-4.94 [[ 9.72801261e-01 2.31372805e-01 1.11503701e-02 2.39800825e+02] [-2.31358606e-01 9.72865159e-01 -2.56467286e-03 -5.04406725e+01] [-1.14412021e-02 -8.48170955e-05 9.99934544e-01 -4.94458800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.738623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.83, Y:-50.45, Z:-4.95 [[ 9.72944072e-01 2.30719893e-01 1.21722293e-02 2.39829791e+02] [-2.30702932e-01 9.73020207e-01 -2.79887090e-03 -5.04475498e+01] [-1.24895803e-02 -8.50241296e-05 9.99921999e-01 -4.95232312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.768623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:239.86, Y:-50.45, Z:-4.95 [[ 9.73054855e-01 2.30287889e-01 1.14776964e-02 2.39858001e+02] [-2.30272779e-01 9.73122543e-01 -2.63899921e-03 -5.04534706e+01] [-1.17769347e-02 -7.51100657e-05 9.99930647e-01 -4.95315844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.798623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.89, Y:-50.46, Z:-4.95 [[ 9.73046960e-01 2.30339981e-01 1.10953267e-02 2.39886545e+02] [-2.30325868e-01 9.73110214e-01 -2.55078081e-03 -5.04601159e+01] [-1.13845225e-02 -7.35112266e-05 9.99935192e-01 -4.95361132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.828623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.92, Y:-50.47, Z:-4.95 [[ 9.72968214e-01 2.30666069e-01 1.12258367e-02 2.39915421e+02] [-2.30651653e-01 9.73032969e-01 -2.58003391e-03 -5.04669051e+01] [-1.15182355e-02 -7.89668180e-05 9.99933660e-01 -4.95405067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.858623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:239.94, Y:-50.47, Z:-4.95 [[ 9.72798666e-01 2.31386204e-01 1.10986747e-02 2.39943836e+02] [-2.31372162e-01 9.72861972e-01 -2.55062698e-03 -5.04725007e+01] [-1.13876585e-02 -8.66778474e-05 9.99935155e-01 -4.94868221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.97, Y:-50.48, Z:-4.96 [[ 9.72767733e-01 2.31488330e-01 1.16657722e-02 2.39971722e+02] [-2.31472828e-01 9.72837676e-01 -2.68055599e-03 -5.04783848e+01] [-1.19694201e-02 -9.27509005e-05 9.99928360e-01 -4.95554772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.918623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.00, Y:-50.48, Z:-4.96 [[ 9.72664879e-01 2.31915370e-01 1.17598626e-02 2.39999849e+02] [-2.31899655e-01 9.72735962e-01 -2.70158909e-03 -5.04841816e+01] [-1.20657813e-02 -9.93672598e-05 9.99927201e-01 -4.95577827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94862385300002 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:240.03, Y:-50.49, Z:-4.96 [[ 9.72691980e-01 2.31810365e-01 1.15873472e-02 2.40026721e+02] [-2.31795107e-01 9.72760991e-01 -2.66148777e-03 -5.04901603e+01] [-1.18886798e-02 -9.70825676e-05 9.99929322e-01 -4.95661689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.06, Y:-50.50, Z:-4.96 [[ 9.72681180e-01 2.31850435e-01 1.16917707e-02 2.40055103e+02] [-2.31834912e-01 9.72751441e-01 -2.68466651e-03 -5.04964648e+01] [-1.19956279e-02 -9.92360386e-05 9.99928045e-01 -4.95720914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.08, Y:-50.50, Z:-4.96 [[ 9.72553669e-01 2.32389192e-01 1.16027370e-02 2.40084165e+02] [-2.32373952e-01 9.72622873e-01 -2.66348291e-03 -5.05030563e+01] [-1.19040521e-02 -1.05793784e-04 9.99929139e-01 -4.95778617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:240.11, Y:-50.51, Z:-4.96 [[ 9.72551441e-01 2.32403422e-01 1.15040795e-02 2.40111948e+02] [-2.32388444e-01 9.72619472e-01 -2.64063773e-03 -5.05093479e+01] [-1.18027850e-02 -1.05259114e-04 9.99930339e-01 -4.95800266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.14, Y:-50.51, Z:-4.96 [[ 9.72535110e-01 2.32455806e-01 1.18219276e-02 2.40140725e+02] [-2.32439997e-01 9.72606954e-01 -2.71320354e-03 -5.05145338e+01] [-1.21287889e-02 -1.09203125e-04 9.99926438e-01 -4.95845759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.17, Y:-50.52, Z:-4.96 [[ 9.72593227e-01 2.32197925e-01 1.21052789e-02 2.40168779e+02] [-2.32181337e-01 9.72668552e-01 -2.77761001e-03 -5.05206421e+01] [-1.24193793e-02 -1.09135145e-04 9.99922871e-01 -4.95968524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.20, Y:-50.53, Z:-4.96 [[ 9.72677163e-01 2.31857328e-01 1.18876687e-02 2.40196004e+02] [-2.31841311e-01 9.72749798e-01 -2.72718983e-03 -5.05272015e+01] [-1.21960463e-02 -1.03377434e-04 9.99925620e-01 -4.96019199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.22, Y:-50.54, Z:-4.96 [[ 9.73019463e-01 2.30428390e-01 1.16568578e-02 2.40223300e+02] [-2.30412896e-01 9.73089282e-01 -2.67345809e-03 -5.05350294e+01] [-1.19592041e-02 -8.45636180e-05 9.99928483e-01 -4.96087569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.25, Y:-50.54, Z:-4.96 [[ 9.73270809e-01 2.29367918e-01 1.15884094e-02 2.40250322e+02] [-2.29352536e-01 9.73339793e-01 -2.65728056e-03 -5.05415932e+01] [-1.18889549e-02 -7.15774787e-05 9.99929321e-01 -4.96128675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:240.28, Y:-50.55, Z:-4.96 [[ 9.73821693e-01 2.27033467e-01 1.12745602e-02 2.40277317e+02] [-2.27018759e-01 9.73886956e-01 -2.58464454e-03 -5.05480124e+01] [-1.15669480e-02 -4.25537460e-05 9.99933100e-01 -4.96202257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:240.31, Y:-50.56, Z:-4.96 [[ 9.74068063e-01 2.25980372e-01 1.11481091e-02 2.40306297e+02] [-2.25965933e-01 9.74131855e-01 -2.55471238e-03 -5.05552102e+01] [-1.14370431e-02 -3.06291506e-05 9.99934594e-01 -4.96231949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:240.33, Y:-50.56, Z:-4.96 [[ 9.74319853e-01 2.24882875e-01 1.13365147e-02 2.40333893e+02] [-2.24867872e-01 9.74385803e-01 -2.59768972e-03 -5.05623303e+01] [-1.16303149e-02 -1.82372754e-05 9.99932365e-01 -4.96283716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.36, Y:-50.57, Z:-4.96 [[ 9.74728471e-01 2.23078674e-01 1.18454133e-02 2.40362742e+02] [-2.23062167e-01 9.74800444e-01 -2.71374539e-03 -5.05702472e+01] [-1.21522929e-02 2.90133572e-06 9.99926158e-01 -4.96294595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.39, Y:-50.58, Z:-4.96 [[ 9.74939543e-01 2.22159185e-01 1.17551870e-02 2.40390585e+02] [-2.22142864e-01 9.75010408e-01 -2.69287080e-03 -5.05774319e+01] [-1.20596757e-02 1.40553098e-05 9.99927279e-01 -4.96344693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:240.42, Y:-50.59, Z:-4.96 [[ 9.75338712e-01 2.20427312e-01 1.12337848e-02 2.40419267e+02] [-2.20412300e-01 9.75403403e-01 -2.57275970e-03 -5.05874462e+01] [-1.15245784e-02 3.32477979e-05 9.99933589e-01 -4.96416695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.45, Y:-50.60, Z:-4.96 [[ 9.75527633e-01 2.19612508e-01 1.07788217e-02 2.40448741e+02] [-2.19598637e-01 9.75587179e-01 -2.46856414e-03 -5.05953387e+01] [-1.10578079e-02 4.11379681e-05 9.99938860e-01 -4.96096769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.428623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:240.48, Y:-50.60, Z:-4.97 [[ 9.75697944e-01 2.18864198e-01 1.05823427e-02 2.40477047e+02] [-2.18850783e-01 9.75755328e-01 -2.42366957e-03 -5.06030150e+01] [-1.08562318e-02 4.88154325e-05 9.99941068e-01 -4.96541284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.458623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:240.51, Y:-50.61, Z:-4.97 [[ 9.75989863e-01 2.17561260e-01 1.05301957e-02 2.40507052e+02] [-2.17547907e-01 9.76046666e-01 -2.41127810e-03 -5.06126631e+01] [-1.08025631e-02 6.25609584e-05 9.99941649e-01 -4.96591963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.488623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:240.54, Y:-50.62, Z:-4.97 [[ 9.76077125e-01 2.17139693e-01 1.11265478e-02 2.40537099e+02] [-2.17124753e-01 9.76140537e-01 -2.54814997e-03 -5.06218759e+01] [-1.14143788e-02 7.13419546e-05 9.99934851e-01 -4.96632567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.518623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:240.57, Y:-50.63, Z:-4.96 [[ 9.76097596e-01 2.17049735e-01 1.10858576e-02 2.40566343e+02] [-2.17034893e-01 9.76160544e-01 -2.53921630e-03 -5.06315188e+01] [-1.13727130e-02 7.25050023e-05 9.99935326e-01 -4.95791661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.548623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.60, Y:-50.64, Z:-4.97 [[ 9.76045189e-01 2.17264350e-01 1.14887757e-02 2.40595083e+02] [-2.17248424e-01 9.76112799e-01 -2.63166309e-03 -5.06404298e+01] [-1.17861076e-02 7.27036949e-05 9.99930539e-01 -4.96610034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.578623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.63, Y:-50.65, Z:-4.97 [[ 9.75804744e-01 2.18322277e-01 1.18526618e-02 2.40625135e+02] [-2.18305403e-01 9.75876724e-01 -2.71508395e-03 -5.06514250e+01] [-1.21595001e-02 6.18916959e-05 9.99926069e-01 -4.96551370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.608623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.66, Y:-50.66, Z:-4.97 [[ 9.75603200e-01 2.19201532e-01 1.22099881e-02 2.40655099e+02] [-2.19183701e-01 9.75679602e-01 -2.79635105e-03 -5.06601163e+01] [-1.25260007e-02 5.18986624e-05 9.99921545e-01 -4.96609395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.69, Y:-50.67, Z:-4.97 [[ 9.75366245e-01 2.20249009e-01 1.22907147e-02 2.40685327e+02] [-2.20230988e-01 9.75443680e-01 -2.81775894e-03 -5.06685399e+01] [-1.26095086e-02 4.15507268e-05 9.99920496e-01 -4.96641718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.668623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.72, Y:-50.68, Z:-4.97 [[ 9.75059194e-01 2.21615032e-01 1.20973514e-02 2.40716119e+02] [-2.21597687e-01 9.75134235e-01 -2.77271937e-03 -5.06770937e+01] [-1.24110178e-02 2.28204214e-05 9.99922980e-01 -4.96672376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.75, Y:-50.69, Z:-4.97 [[ 9.74488162e-01 2.24141766e-01 1.15451961e-02 2.40746334e+02] [-2.24126110e-01 9.74556550e-01 -2.64911004e-03 -5.06867935e+01] [-1.18452227e-02 -6.05351961e-06 9.99929843e-01 -4.96835913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.78, Y:-50.70, Z:-4.97 [[ 9.73763077e-01 2.27320227e-01 1.05349496e-02 2.40777197e+02] [-2.27307389e-01 9.73820062e-01 -2.41628662e-03 -5.06966559e+01] [-1.08084161e-02 -4.17811990e-05 9.99941586e-01 -4.96925604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:240.81, Y:-50.70, Z:-4.97 [[ 9.73346930e-01 2.29102907e-01 1.03736214e-02 2.40806332e+02] [-2.29090527e-01 9.73402206e-01 -2.38240781e-03 -5.07043522e+01] [-1.06435225e-02 -5.75890718e-05 9.99943354e-01 -4.97025195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.84, Y:-50.71, Z:-4.97 [[ 9.72906509e-01 2.30969367e-01 1.02993559e-02 2.40837761e+02] [-2.30957281e-01 9.72961019e-01 -2.36407982e-03 -5.07126394e+01] [-1.05669019e-02 -7.86826043e-05 9.99944166e-01 -4.97059089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:240.87, Y:-50.72, Z:-4.97 [[ 9.72129262e-01 2.34221354e-01 1.02496761e-02 2.40867754e+02] [-2.34209533e-01 9.72183288e-01 -2.35576617e-03 -5.07202609e+01] [-1.05163346e-02 -1.10462630e-04 9.99944696e-01 -4.97085177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:240.90, Y:-50.73, Z:-4.97 [[ 9.71780748e-01 2.35667861e-01 1.01408739e-02 2.40898791e+02] [-2.35656380e-01 9.71833650e-01 -2.32968667e-03 -5.07277769e+01] [-1.04042747e-02 -1.25816966e-04 9.99945866e-01 -4.97105443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.93, Y:-50.74, Z:-4.97 [[ 9.71267669e-01 2.37792864e-01 9.67821714e-03 2.40930103e+02] [-2.37782496e-01 9.71315878e-01 -2.22495854e-03 -5.07356408e+01] [-9.92968524e-03 -1.40280341e-04 9.99950690e-01 -4.97224020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.96, Y:-50.74, Z:-4.97 [[ 9.71023936e-01 2.38779233e-01 9.84850187e-03 2.40959967e+02] [-2.38768528e-01 9.71073867e-01 -2.26605527e-03 -5.07427608e+01] [-1.01047097e-02 -1.51118382e-04 9.99948935e-01 -4.97271896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:240.99, Y:-50.75, Z:-4.97 [[ 9.70834300e-01 2.39536518e-01 1.01498311e-02 2.40989986e+02] [-2.39525156e-01 9.70887342e-01 -2.33850942e-03 -5.07494806e+01] [-1.04145009e-02 -1.60834715e-04 9.99945755e-01 -4.97289626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.02, Y:-50.76, Z:-4.97 [[ 9.70580775e-01 2.40552935e-01 1.03558692e-02 2.41020158e+02] [-2.40541163e-01 9.70636005e-01 -2.38622032e-03 -5.07555956e+01] [-1.06257918e-02 -1.74993255e-04 9.99943529e-01 -4.97308771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.05, Y:-50.76, Z:-4.97 [[ 9.70546922e-01 2.40677608e-01 1.06283004e-02 2.41050018e+02] [-2.40665218e-01 9.70605098e-01 -2.44879227e-03 -5.07635329e+01] [-1.09052520e-02 -1.81194437e-04 9.99940520e-01 -4.97352162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:241.08, Y:-50.77, Z:-4.97 [[ 9.70649337e-01 2.40260957e-01 1.07021515e-02 2.41080067e+02] [-2.40248367e-01 9.70708319e-01 -2.46607569e-03 -5.07708904e+01] [-1.09811692e-02 -1.77479688e-04 9.99939689e-01 -4.97398155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.11, Y:-50.78, Z:-4.97 [[ 9.70752770e-01 2.39844948e-01 1.06517471e-02 2.41109270e+02] [-2.39832451e-01 9.70811192e-01 -2.45445547e-03 -5.07779274e+01] [-1.09295240e-02 -1.71965169e-04 9.99940256e-01 -4.97493433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:241.14, Y:-50.79, Z:-4.98 [[ 9.70986419e-01 2.38908148e-01 1.04053486e-02 2.41140119e+02] [-2.38896159e-01 9.71042158e-01 -2.39852899e-03 -5.07851063e+01] [-1.06770603e-02 -1.56858742e-04 9.99942986e-01 -4.97536329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.17, Y:-50.79, Z:-4.98 [[ 9.71618303e-01 2.36301982e-01 1.09200214e-02 2.41169816e+02] [-2.36288609e-01 9.71679657e-01 -2.51755425e-03 -5.07920038e+01] [-1.12056657e-02 -1.34174872e-04 9.99937206e-01 -4.97639522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.20, Y:-50.80, Z:-4.98 [[ 9.71921131e-01 2.35049142e-01 1.10097882e-02 2.41200137e+02] [-2.35035467e-01 9.71983480e-01 -2.53829029e-03 -5.07987065e+01] [-1.12979552e-02 -1.20672742e-04 9.99936169e-01 -4.97658860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.178623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.23, Y:-50.81, Z:-4.98 [[ 9.72482985e-01 2.32732836e-01 1.05957891e-02 2.41229816e+02] [-2.32720033e-01 9.72540703e-01 -2.44281990e-03 -5.08052586e+01] [-1.08733606e-02 -9.02516144e-05 9.99940879e-01 -4.97742895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.208623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.26, Y:-50.81, Z:-4.98 [[ 9.72741674e-01 2.31641116e-01 1.07716491e-02 2.41259917e+02] [-2.31627809e-01 9.72801309e-01 -2.48415890e-03 -5.08130875e+01] [-1.10541077e-02 -7.85685995e-05 9.99938898e-01 -4.97803605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:-50.82, Z:-4.98 [[ 9.72952132e-01 2.30758370e-01 1.07109051e-02 2.41290816e+02] [-2.30745167e-01 9.73011084e-01 -2.46942279e-03 -5.08214507e+01] [-1.09916693e-02 -6.88594023e-05 9.99939587e-01 -4.97836327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:-50.83, Z:-4.98 [[ 9.72931525e-01 2.30845266e-01 1.07103523e-02 2.41322612e+02] [-2.30832042e-01 9.72990472e-01 -2.47181746e-03 -5.08289002e+01] [-1.09916781e-02 -6.73833602e-05 9.99939587e-01 -4.97899387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.298623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:-50.84, Z:-4.98 [[ 9.73390325e-01 2.28928912e-01 1.01404882e-02 2.41354079e+02] [-2.28916952e-01 9.73443142e-01 -2.34046223e-03 -5.08373326e+01] [-1.04069882e-02 -4.31463605e-05 9.99945845e-01 -4.97976162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:-50.84, Z:-4.98 [[ 9.73589953e-01 2.28094498e-01 9.77261100e-03 2.41384183e+02] [-2.28083331e-01 9.73638998e-01 -2.25725492e-03 -5.08447894e+01] [-1.00298626e-02 -3.13289509e-05 9.99949699e-01 -4.98120533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.358623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.41, Y:-50.85, Z:-4.98 [[ 9.74004946e-01 2.26313203e-01 9.83361176e-03 2.41414954e+02] [-2.26301790e-01 9.74054585e-01 -2.27285145e-03 -5.08526029e+01] [-1.00928509e-02 -1.15953903e-05 9.99949066e-01 -4.98179440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.44, Y:-50.86, Z:-4.98 [[ 9.74173623e-01 2.25569653e-01 1.02021564e-02 2.41444713e+02] [-2.25557301e-01 9.74227043e-01 -2.36057382e-03 -5.08603990e+01] [-1.04716904e-02 -1.56209616e-06 9.99945170e-01 -4.98186454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.418623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.48, Y:-50.87, Z:-4.98 [[ 9.74261631e-01 2.25171391e-01 1.05886306e-02 2.41475960e+02] [-2.25158057e-01 9.74319170e-01 -2.45050925e-03 -5.08689753e+01] [-1.08684904e-02 3.32163750e-06 9.99940936e-01 -4.98206827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.51, Y:-50.88, Z:-4.98 [[ 9.74343176e-01 2.24762842e-01 1.17064408e-02 2.41506706e+02] [-2.24746487e-01 9.74413498e-01 -2.71147896e-03 -5.08778125e+01] [-1.20163537e-02 1.09295734e-05 9.99927801e-01 -4.98194077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47862385300002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:241.54, Y:-50.89, Z:-4.98 [[ 9.74271907e-01 2.25075021e-01 1.16398706e-02 2.41538952e+02] [-2.25058848e-01 9.74341437e-01 -2.69811417e-03 -5.08862134e+01] [-1.19484864e-02 9.04096139e-06 9.99928614e-01 -4.98230192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:241.57, Y:-50.89, Z:-4.98 [[ 9.74033221e-01 2.26123740e-01 1.12844474e-02 2.41570606e+02] [-2.26108587e-01 9.74098585e-01 -2.61781729e-03 -5.08942233e+01] [-1.15841149e-02 -1.66944138e-06 9.99932902e-01 -4.98324067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.60, Y:-50.90, Z:-4.98 [[ 9.73853068e-01 2.26891192e-01 1.14275682e-02 2.41601602e+02] [-2.26875676e-01 9.73920113e-01 -2.65341050e-03 -5.09016512e+01] [-1.17315740e-02 -8.60530070e-06 9.99931183e-01 -4.98440252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56862385300002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.63, Y:-50.91, Z:-4.99 [[ 9.73502933e-01 2.28409725e-01 1.10016598e-02 2.41632863e+02] [-2.28395419e-01 9.73565096e-01 -2.55651202e-03 -5.09108516e+01] [-1.12947642e-02 -2.39567456e-05 9.99936212e-01 -4.98576388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59862385300002 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:241.66, Y:-50.92, Z:-4.98 [[ 9.73304456e-01 2.29283708e-01 1.03641885e-02 2.41663388e+02] [-2.29271043e-01 9.73359636e-01 -2.41007841e-03 -5.09190253e+01] [-1.06406745e-02 -3.04682559e-05 9.99943386e-01 -4.97977879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.69, Y:-50.93, Z:-4.99 [[ 9.73208419e-01 2.29693673e-01 1.03048016e-02 2.41694474e+02] [-2.29681160e-01 9.73262973e-01 -2.39778408e-03 -5.09271110e+01] [-1.05800377e-02 -3.32751316e-05 9.99944029e-01 -4.98707389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.72, Y:-50.94, Z:-4.99 [[ 9.72876840e-01 2.31090311e-01 1.03885931e-02 2.41724861e+02] [-2.31077653e-01 9.72932303e-01 -2.41916869e-03 -5.09353656e+01] [-1.06664443e-02 -4.70185212e-05 9.99943111e-01 -4.98720979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.75, Y:-50.94, Z:-4.99 [[ 9.72650964e-01 2.32024428e-01 1.07129086e-02 2.41753999e+02] [-2.32010995e-01 9.72709958e-01 -2.49725844e-03 -5.09429429e+01] [-1.09999778e-02 -5.65517568e-05 9.99939497e-01 -4.98796270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.78, Y:-50.95, Z:-4.99 [[ 9.72136682e-01 2.34162454e-01 1.08727760e-02 2.41784235e+02] [-2.34148742e-01 9.72197479e-01 -2.53539303e-03 -5.09499499e+01] [-1.11641793e-02 -8.10982651e-05 9.99937675e-01 -4.98768369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:241.82, Y:-50.96, Z:-4.99 [[ 9.71749026e-01 2.35762167e-01 1.09558227e-02 2.41815255e+02] [-2.35748343e-01 9.71810779e-01 -2.55501871e-03 -5.09569452e+01] [-1.12493634e-02 -9.99801162e-05 9.99936719e-01 -4.98514854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.84, Y:-50.96, Z:-4.99 [[ 9.71406596e-01 2.37153406e-01 1.12910591e-02 2.41844729e+02] [-2.37138813e-01 9.71472206e-01 -2.63356739e-03 -5.09635905e+01] [-1.15935096e-02 -1.19283626e-04 9.99932786e-01 -4.98902316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.88, Y:-50.97, Z:-4.99 [[ 9.70481288e-01 2.40879791e-01 1.19580647e-02 2.41875992e+02] [-2.40863717e-01 9.70554942e-01 -2.78819262e-03 -5.09706230e+01] [-1.22775781e-02 -1.74375156e-04 9.99924612e-01 -4.98917653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.91, Y:-50.98, Z:-4.99 [[ 9.70048928e-01 2.42605047e-01 1.21601122e-02 2.41906231e+02] [-2.42588532e-01 9.70125122e-01 -2.83754932e-03 -5.09773675e+01] [-1.24852341e-02 -1.97342085e-04 9.99922037e-01 -4.98975006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.94, Y:-50.98, Z:-4.99 [[ 9.69294575e-01 2.45595657e-01 1.22800466e-02 2.41935333e+02] [-2.45579015e-01 9.69372332e-01 -2.86872523e-03 -5.09822207e+01] [-1.26084839e-02 -2.35081936e-04 9.99920482e-01 -4.99049010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.97, Y:-50.99, Z:-4.99 [[ 9.69030939e-01 2.46647420e-01 1.20037046e-02 2.41966657e+02] [-2.46631606e-01 9.69105253e-01 -2.80357380e-03 -5.09878934e+01] [-1.23243474e-02 -2.43743189e-04 9.99924023e-01 -4.99128743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.928623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.00, Y:-50.99, Z:-4.99 [[ 9.68798409e-01 2.47582604e-01 1.15107043e-02 2.41996283e+02] [-2.47568125e-01 9.68866758e-01 -2.68878038e-03 -5.09931074e+01] [-1.18180340e-02 -2.44797319e-04 9.99930135e-01 -4.99184693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.958623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.03, Y:-51.00, Z:-4.99 [[ 9.68407315e-01 2.49144110e-01 1.06997440e-02 2.42028688e+02] [-2.49131707e-01 9.68466392e-01 -2.49812596e-03 -5.09974772e+01] [-1.09847358e-02 -2.46442040e-04 9.99939636e-01 -4.99321188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.988623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.06, Y:-51.00, Z:-4.99 [[ 9.68304541e-01 2.49550515e-01 1.05288610e-02 2.42059606e+02] [-2.49538503e-01 9.68361751e-01 -2.46067686e-03 -5.10028312e+01] [-1.08098095e-02 -2.44671633e-04 9.99941542e-01 -4.99406418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.09, Y:-51.01, Z:-4.99 [[ 9.68151042e-01 2.50129707e-01 1.08945219e-02 2.42090007e+02] [-2.50116861e-01 9.68212303e-01 -2.54809127e-03 -5.10067545e+01] [-1.11855634e-02 -2.57966391e-04 9.99937406e-01 -4.99446448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.048623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.12, Y:-51.01, Z:-4.99 [[ 9.68093292e-01 2.50347941e-01 1.10130208e-02 2.42118747e+02] [-2.50334829e-01 9.68155896e-01 -2.57569925e-03 -5.10120369e+01] [-1.13071421e-02 -2.63425525e-04 9.99936038e-01 -4.99475754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.15, Y:-51.02, Z:-5.00 [[ 9.68124485e-01 2.50218389e-01 1.12133831e-02 2.42147760e+02] [-2.50204782e-01 9.68189386e-01 -2.62300904e-03 -5.10166868e+01] [-1.15130036e-02 -2.66242809e-04 9.99933688e-01 -4.99543565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.108623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.18, Y:-51.02, Z:-5.00 [[ 9.68306221e-01 2.49505236e-01 1.14104992e-02 2.42177677e+02] [-2.49491100e-01 9.68373414e-01 -2.66883149e-03 -5.10190132e+01] [-1.17155115e-02 -2.62571872e-04 9.99931337e-01 -4.99611644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.138623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:242.21, Y:-51.02, Z:-5.00 [[ 9.68424496e-01 2.49044037e-01 1.14482548e-02 2.42206944e+02] [-2.49029778e-01 9.68492128e-01 -2.67737995e-03 -5.10233840e+01] [-1.17543302e-02 -2.58116034e-04 9.99930882e-01 -4.99682506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.168623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.24, Y:-51.02, Z:-5.00 [[ 9.68831951e-01 2.47475437e-01 1.09799425e-02 2.42236530e+02] [-2.47462223e-01 9.68894140e-01 -2.56769949e-03 -5.10247775e+01] [-1.12738445e-02 -2.29451659e-04 9.99936422e-01 -4.99795026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.26, Y:-51.03, Z:-5.00 [[ 9.69120420e-01 2.46350975e-01 1.08077929e-02 2.42264945e+02] [-2.46338105e-01 9.69180660e-01 -2.52714759e-03 -5.10292464e+01] [-1.10972692e-02 -2.13260891e-04 9.99938401e-01 -4.99878718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.29, Y:-51.03, Z:-5.00 [[ 9.69894411e-01 2.43293475e-01 1.06356801e-02 2.42294138e+02] [-2.43280833e-01 9.69952707e-01 -2.48642014e-03 -5.10319253e+01] [-1.09210365e-02 -1.75892108e-04 9.99940348e-01 -4.99962936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.32, Y:-51.04, Z:-5.00 [[ 9.70322962e-01 2.41584389e-01 1.05039708e-02 2.42321319e+02] [-2.41571962e-01 9.70379801e-01 -2.45522465e-03 -5.10357678e+01] [-1.07859850e-02 -1.55103980e-04 9.99941818e-01 -4.99979904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28862385300002 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:242.35, Y:-51.04, Z:-4.99 [[ 9.70764191e-01 2.39819458e-01 1.01741112e-02 2.42349053e+02] [-2.39807710e-01 9.70817496e-01 -2.37742661e-03 -5.10401188e+01] [-1.04473583e-02 -1.31909685e-04 9.99945416e-01 -4.99153436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.38, Y:-51.04, Z:-5.00 [[ 9.71723192e-01 2.35886939e-01 1.05541220e-02 2.42376514e+02] [-2.35874069e-01 9.71780502e-01 -2.46577614e-03 -5.10435241e+01] [-1.08379344e-02 -9.33918419e-05 9.99941264e-01 -5.00116956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.40, Y:-51.05, Z:-5.00 [[ 9.72144557e-01 2.34131202e-01 1.08416613e-02 2.42403727e+02] [-2.34117521e-01 9.72205006e-01 -2.53218892e-03 -5.10479326e+01] [-1.11331819e-02 -7.65692008e-05 9.99938021e-01 -5.00160194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:-51.05, Z:-5.00 [[ 9.72865793e-01 2.31095433e-01 1.12716682e-02 2.42432830e+02] [-2.31080447e-01 9.72931087e-01 -2.63208934e-03 -5.10509464e+01] [-1.15748202e-02 -4.39924327e-05 9.99933009e-01 -5.00186369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.46, Y:-51.06, Z:-5.00 [[ 9.73189477e-01 2.29719135e-01 1.14612837e-02 2.42460708e+02] [-2.29703551e-01 9.73256964e-01 -2.67586703e-03 -5.10558267e+01] [-1.17694721e-02 -2.85719389e-05 9.99930737e-01 -5.00229621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.49, Y:-51.06, Z:-5.00 [[ 9.73696185e-01 2.27547901e-01 1.17342054e-02 2.42489469e+02] [-2.27531419e-01 9.73766888e-01 -2.73873678e-03 -5.10597513e+01] [-1.20495744e-02 -3.20284425e-06 9.99927401e-01 -5.00221608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.52, Y:-51.06, Z:-5.00 [[ 9.73813611e-01 2.27052656e-01 1.15819851e-02 2.42518348e+02] [-2.27036570e-01 9.73882483e-01 -2.70265241e-03 -5.10646831e+01] [-1.18931369e-02 2.34551927e-06 9.99929274e-01 -5.00245608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.55, Y:-51.07, Z:-5.00 [[ 9.73965121e-01 2.26410936e-01 1.14031493e-02 2.42546788e+02] [-2.26395305e-01 9.74031872e-01 -2.66038632e-03 -5.10680079e+01] [-1.17093715e-02 9.50400111e-06 9.99931443e-01 -5.00326274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.58, Y:-51.07, Z:-5.00 [[ 9.73982030e-01 2.26336800e-01 1.14305482e-02 2.42575408e+02] [-2.26321096e-01 9.74049102e-01 -2.66619361e-03 -5.10733980e+01] [-1.17373729e-02 9.85047769e-06 9.99931115e-01 -5.00404807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.60, Y:-51.08, Z:-5.00 [[ 9.73950022e-01 2.26457827e-01 1.17561563e-02 2.42603340e+02] [-2.26441231e-01 9.74020971e-01 -2.74160048e-03 -5.10779732e+01] [-1.20715996e-02 8.10335226e-06 9.99927136e-01 -5.00445483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.63, Y:-51.08, Z:-5.01 [[ 9.73843257e-01 2.26901417e-01 1.20439795e-02 2.42631173e+02] [-2.26884042e-01 9.73917731e-01 -2.80794191e-03 -5.10824278e+01] [-1.23669712e-02 1.90853794e-06 9.99923526e-01 -5.00507228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.66, Y:-51.09, Z:-5.01 [[ 9.73571448e-01 2.28080953e-01 1.17351947e-02 2.42659889e+02] [-2.28064553e-01 9.73642172e-01 -2.73509652e-03 -5.10853672e+01] [-1.20497039e-02 -1.35700659e-05 9.99927400e-01 -5.00565370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.69, Y:-51.09, Z:-5.01 [[ 9.73426287e-01 2.28684856e-01 1.20208564e-02 2.42688225e+02] [-2.28667702e-01 9.73500506e-01 -2.80105516e-03 -5.10904506e+01] [-1.23428687e-02 -2.21608950e-05 9.99923824e-01 -5.00630183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.72, Y:-51.09, Z:-5.01 [[ 9.73213938e-01 2.29586959e-01 1.20191305e-02 2.42716342e+02] [-2.29569885e-01 9.73288152e-01 -2.80013172e-03 -5.10929277e+01] [-1.23409510e-02 -3.41031858e-05 9.99923847e-01 -5.00626911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.708623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.74, Y:-51.10, Z:-5.01 [[ 9.73170286e-01 2.29778761e-01 1.18876452e-02 2.42743809e+02] [-2.29762081e-01 9.73242888e-01 -2.76885788e-03 -5.10971408e+01] [-1.22057909e-02 -3.67598916e-05 9.99925506e-01 -5.00695565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.738623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.77, Y:-51.10, Z:-5.01 [[ 9.73246687e-01 2.29422390e-01 1.25001224e-02 2.42772041e+02] [-2.29403932e-01 9.73326957e-01 -2.91036713e-03 -5.11008522e+01] [-1.28344095e-02 -3.50720674e-05 9.99917635e-01 -5.00777445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:-51.11, Z:-5.01 [[ 9.73307683e-01 2.29156663e-01 1.26244682e-02 2.42800582e+02] [-2.29137822e-01 9.73389553e-01 -2.93867908e-03 -5.11056314e+01] [-1.29619434e-02 -3.25042164e-05 9.99915990e-01 -5.00767133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.798623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:-51.11, Z:-5.01 [[ 9.73443413e-01 2.28573007e-01 1.27398046e-02 2.42827928e+02] [-2.28553778e-01 9.73526774e-01 -2.96495465e-03 -5.11099698e+01] [-1.30802495e-02 -2.55149004e-05 9.99914450e-01 -5.00825088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.828623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.86, Y:-51.11, Z:-5.01 [[ 9.73818467e-01 2.26987790e-01 1.24151566e-02 2.42855474e+02] [-2.26969407e-01 9.73897604e-01 -2.88873172e-03 -5.11136716e+01] [-1.27467981e-02 -4.76044197e-06 9.99918756e-01 -5.00929427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.858623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:242.88, Y:-51.12, Z:-5.00 [[ 9.74046846e-01 2.26039721e-01 1.17807264e-02 2.42884067e+02] [-2.26023112e-01 9.74118086e-01 -2.74013739e-03 -5.11195652e+01] [-1.20951985e-02 6.30574892e-06 9.99926850e-01 -5.00071360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.91, Y:-51.12, Z:-5.01 [[ 9.74530219e-01 2.23933318e-01 1.20300215e-02 2.42911541e+02] [-2.23915844e-01 9.74604468e-01 -2.79757806e-03 -5.11234354e+01] [-1.23509836e-02 3.26119383e-05 9.99923723e-01 -5.01096819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.918623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.94, Y:-51.13, Z:-5.01 [[ 9.74820483e-01 2.22667975e-01 1.19999320e-02 2.42938678e+02] [-2.22650501e-01 9.74894338e-01 -2.78990346e-03 -5.11284616e+01] [-1.23198880e-02 4.78641603e-05 9.99924106e-01 -5.01154018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.97, Y:-51.13, Z:-5.01 [[ 9.75374455e-01 2.20211025e-01 1.23198057e-02 2.42965710e+02] [-2.20192424e-01 9.75452253e-01 -2.86323558e-03 -5.11338303e+01] [-1.26478982e-02 7.99989665e-05 9.99920009e-01 -5.01140640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:-51.14, Z:-5.01 [[ 9.75621490e-01 2.19094491e-01 1.26614663e-02 2.42994251e+02] [-2.19074762e-01 9.75703641e-01 -2.94175198e-03 -5.11398495e+01] [-1.29983604e-02 9.62287370e-05 9.99915513e-01 -5.01169308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:-51.15, Z:-5.01 [[ 9.75824678e-01 2.18164742e-01 1.30515228e-02 2.43022230e+02] [-2.18143705e-01 9.75911949e-01 -3.03170392e-03 -5.11451894e+01] [-1.33985480e-02 1.11303961e-04 9.99910229e-01 -5.01172903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.05, Y:-51.15, Z:-5.01 [[ 9.76170471e-01 2.16533869e-01 1.42931928e-02 2.43049760e+02] [-2.16508474e-01 9.76275096e-01 -3.31937995e-03 -5.11494943e+01] [-1.46728464e-02 1.45683323e-04 9.99892337e-01 -5.01222037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06862385300002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.08, Y:-51.16, Z:-5.01 [[ 9.76335392e-01 2.15787473e-01 1.43167252e-02 2.43076977e+02] [-2.15761927e-01 9.76440342e-01 -3.32397199e-03 -5.11551518e+01] [-1.46966996e-02 1.56307274e-04 9.99891985e-01 -5.01220871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.11, Y:-51.16, Z:-5.01 [[ 9.76684451e-01 2.14233450e-01 1.38387868e-02 2.43105512e+02] [-2.14209438e-01 9.76782473e-01 -3.21205356e-03 -5.11610822e+01] [-1.42056137e-02 1.72764021e-04 9.99899080e-01 -5.01377744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:243.13, Y:-51.17, Z:-5.01 [[ 9.76905399e-01 2.13243974e-01 1.35221725e-02 2.43133749e+02] [-2.13220962e-01 9.76998963e-01 -3.13794858e-03 -5.11670113e+01] [-1.38802971e-02 1.82268284e-04 9.99903647e-01 -5.01465877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.16, Y:-51.17, Z:-5.02 [[ 9.77271279e-01 2.11605628e-01 1.28025859e-02 2.43160363e+02] [-2.11584867e-01 9.77355115e-01 -2.97045809e-03 -5.11732164e+01] [-1.31412385e-02 1.94109934e-04 9.99913631e-01 -5.01589504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.19, Y:-51.18, Z:-5.02 [[ 9.77283302e-01 2.11550081e-01 1.28027924e-02 2.43188149e+02] [-2.11529326e-01 9.77367140e-01 -2.96956783e-03 -5.11795270e+01] [-1.31412409e-02 1.93942997e-04 9.99913631e-01 -5.01644481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.22, Y:-51.19, Z:-5.02 [[ 9.77392345e-01 2.11077860e-01 1.22613273e-02 2.43215447e+02] [-2.11058796e-01 9.77469233e-01 -2.84328810e-03 -5.11858137e+01] [-1.25852253e-02 1.91147057e-04 9.99920785e-01 -5.01756267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.24, Y:-51.19, Z:-5.02 [[ 9.77489442e-01 2.10643982e-01 1.19793285e-02 2.43243793e+02] [-2.10625761e-01 9.77562825e-01 -2.77713475e-03 -5.11922429e+01] [-1.22955329e-02 1.91464716e-04 9.99924389e-01 -5.01833789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.27, Y:-51.20, Z:-5.02 [[ 9.77636758e-01 2.09946139e-01 1.22060666e-02 2.43270551e+02] [-2.09927174e-01 9.77712932e-01 -2.82916165e-03 -5.11984386e+01] [-1.25280008e-02 2.03507346e-04 9.99921501e-01 -5.01912684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.30, Y:-51.21, Z:-5.02 [[ 9.77576333e-01 2.10234708e-01 1.20780983e-02 2.43298641e+02] [-2.10216171e-01 9.77650924e-01 -2.79871103e-03 -5.12050589e+01] [-1.23965501e-02 1.96942099e-04 9.99923140e-01 -5.01949652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.33, Y:-51.21, Z:-5.02 [[ 9.77321059e-01 2.11391146e-01 1.25431773e-02 2.43327089e+02] [-2.11371258e-01 9.77401528e-01 -2.90580312e-03 -5.12103810e+01] [-1.28739817e-02 1.88635414e-04 9.99917109e-01 -5.02000465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.36, Y:-51.22, Z:-5.02 [[ 9.77090066e-01 2.12444001e-01 1.27495117e-02 2.43355346e+02] [-2.12423551e-01 9.77173227e-01 -2.95293888e-03 -5.12166421e+01] [-1.30858156e-02 1.76990705e-04 9.99914361e-01 -5.02039086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.38, Y:-51.22, Z:-5.02 [[ 9.76522617e-01 2.15038533e-01 1.27282169e-02 2.43382329e+02] [-2.15018379e-01 9.76605555e-01 -2.94742990e-03 -5.12222039e+01] [-1.30642584e-02 1.41431384e-04 9.99914649e-01 -5.02088023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.41, Y:-51.23, Z:-5.02 [[ 9.76200540e-01 2.16492671e-01 1.27839312e-02 2.43408519e+02] [-2.16472472e-01 9.76284236e-01 -2.95977656e-03 -5.12274799e+01] [-1.31215204e-02 1.21966301e-04 9.99913902e-01 -5.02112884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.44, Y:-51.23, Z:-5.02 [[ 9.75926137e-01 2.17717863e-01 1.29269784e-02 2.43435524e+02] [-2.17697338e-01 9.76011742e-01 -2.99128664e-03 -5.12332165e+01] [-1.32681392e-02 1.05106028e-04 9.99911969e-01 -5.02199735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.488623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.46, Y:-51.24, Z:-5.02 [[ 9.75501165e-01 2.19632771e-01 1.26064406e-02 2.43462931e+02] [-2.19613423e-01 9.75582616e-01 -2.91622171e-03 -5.12388755e+01] [-1.29391221e-02 7.62341098e-05 9.99916283e-01 -5.01603989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.49, Y:-51.24, Z:-5.02 [[ 9.75334316e-01 2.20326124e-01 1.33929542e-02 2.43490066e+02] [-2.20304367e-01 9.75426263e-01 -3.09707219e-03 -5.12446188e+01] [-1.37462051e-02 7.01544923e-05 9.99905514e-01 -5.02313063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.548623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.52, Y:-51.25, Z:-5.02 [[ 9.75277543e-01 2.20615092e-01 1.27552349e-02 2.43517450e+02] [-2.20595395e-01 9.75360947e-01 -2.94865152e-03 -5.12504720e+01] [-1.30914750e-02 6.20075446e-05 9.99914301e-01 -5.02400192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.54, Y:-51.26, Z:-5.03 [[ 9.75315987e-01 2.20456722e-01 1.25522986e-02 2.43544610e+02] [-2.20437645e-01 9.75396755e-01 -2.90087064e-03 -5.12566069e+01] [-1.28829878e-02 6.22663605e-05 9.99917009e-01 -5.02512634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.608623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.57, Y:-51.26, Z:-5.03 [[ 9.75398353e-01 2.20076361e-01 1.28237271e-02 2.43571784e+02] [-2.20056427e-01 9.75482645e-01 -2.96285668e-03 -5.12631218e+01] [-1.31613780e-02 6.80219567e-05 9.99913383e-01 -5.02580288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.638623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.60, Y:-51.27, Z:-5.03 [[ 9.75439409e-01 2.19865329e-01 1.33115053e-02 2.43598092e+02] [-2.19843843e-01 9.75530231e-01 -3.07454421e-03 -5.12688450e+01] [-1.36617616e-02 7.25790972e-05 9.99906671e-01 -5.02636289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.668623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.63, Y:-51.27, Z:-5.03 [[ 9.75422972e-01 2.19901857e-01 1.38996288e-02 2.43626598e+02] [-2.19878456e-01 9.75521998e-01 -3.20888542e-03 -5.12748485e+01] [-1.42650335e-02 7.37916343e-05 9.99898247e-01 -5.02690097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.65, Y:-51.28, Z:-5.03 [[ 9.75409312e-01 2.19919739e-01 1.45596241e-02 2.43653668e+02] [-2.19894075e-01 9.75517966e-01 -3.36050850e-03 -5.12796856e+01] [-1.49422170e-02 7.62962176e-05 9.99888356e-01 -5.02692173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.68, Y:-51.29, Z:-5.03 [[ 9.75400064e-01 2.19986203e-01 1.41698769e-02 2.43680410e+02] [-2.19961915e-01 9.75502981e-01 -3.26966949e-03 -5.12853071e+01] [-1.45420393e-02 7.24025673e-05 9.99894256e-01 -5.02792162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.71, Y:-51.29, Z:-5.03 [[ 9.75421926e-01 2.19926671e-01 1.35766580e-02 2.43708248e+02] [-2.19904378e-01 9.75516404e-01 -3.13202396e-03 -5.12898659e+01] [-1.39330682e-02 6.94783027e-05 9.99902928e-01 -5.02855263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.74, Y:-51.30, Z:-5.03 [[ 9.75518919e-01 2.19486847e-01 1.37245121e-02 2.43736087e+02] [-2.19464038e-01 9.75615456e-01 -3.16510564e-03 -5.12951524e+01] [-1.40845452e-02 7.55835959e-05 9.99900805e-01 -5.02963246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.76, Y:-51.30, Z:-5.03 [[ 9.75733600e-01 2.18526678e-01 1.37852268e-02 2.43763330e+02] [-2.18503585e-01 9.75830971e-01 -3.17807047e-03 -5.12998369e+01] [-1.41465444e-02 8.88286568e-05 9.99899929e-01 -5.03025244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.79, Y:-51.31, Z:-5.03 [[ 9.75975892e-01 2.17432210e-01 1.39388942e-02 2.43790288e+02] [-2.17408504e-01 9.76075419e-01 -3.21237658e-03 -5.13050250e+01] [-1.43038862e-02 1.04767951e-04 9.99897689e-01 -5.03058245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.82, Y:-51.31, Z:-5.03 [[ 9.76238987e-01 2.16221280e-01 1.43456911e-02 2.43817949e+02] [-2.16196053e-01 9.76344377e-01 -3.30514672e-03 -5.13104293e+01] [-1.47209779e-02 1.25131285e-04 9.99891633e-01 -5.03091577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90862385300002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:-51.32, Z:-5.03 [[ 9.76985609e-01 2.12775632e-01 1.50216604e-02 2.43845031e+02] [-2.12747584e-01 9.77101068e-01 -3.45963156e-03 -5.13159045e+01] [-1.54138057e-02 1.84188283e-04 9.99881183e-01 -5.03176924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93862385300002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.87, Y:-51.32, Z:-5.03 [[ 9.77364605e-01 2.11013383e-01 1.52243289e-02 2.43871824e+02] [-2.10984375e-01 9.77483149e-01 -3.50532958e-03 -5.13221315e+01] [-1.56211964e-02 2.13889542e-04 9.99877959e-01 -5.03181482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.90, Y:-51.33, Z:-5.03 [[ 9.78111028e-01 2.07469871e-01 1.59708758e-02 2.43899673e+02] [-2.07437492e-01 9.78241367e-01 -3.67615458e-03 -5.13275712e+01] [-1.63860627e-02 2.82728925e-04 9.99865699e-01 -5.03256154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.93, Y:-51.33, Z:-5.02 [[ 9.78477278e-01 2.05777904e-01 1.54165957e-02 2.43928028e+02] [-2.05747536e-01 9.78598674e-01 -3.54785055e-03 -5.13331558e+01] [-1.58167293e-02 2.99564580e-04 9.99874863e-01 -5.02444509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.96, Y:-51.34, Z:-5.03 [[ 9.78733937e-01 2.04525812e-01 1.57820663e-02 2.43955143e+02] [-2.04493836e-01 9.78861117e-01 -3.63120717e-03 -5.13397028e+01] [-1.61911266e-02 3.26650426e-04 9.99868862e-01 -5.03408604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.98, Y:-51.35, Z:-5.04 [[ 9.79110149e-01 2.02754128e-01 1.52996984e-02 2.43982756e+02] [-2.02723876e-01 9.79229618e-01 -3.51918403e-03 -5.13469788e+01] [-1.56954469e-02 3.44054629e-04 9.99876760e-01 -5.03544593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:-51.35, Z:-5.04 [[ 9.79266977e-01 2.02032011e-01 1.48072504e-02 2.44011316e+02] [-2.02003604e-01 9.79378859e-01 -3.40522152e-03 -5.13532355e+01] [-1.51898717e-02 3.43503051e-04 9.99884568e-01 -5.03575230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.04, Y:-51.36, Z:-5.04 [[ 9.79475352e-01 2.01050675e-01 1.43757189e-02 2.44039770e+02] [-2.01023804e-01 9.79580780e-01 -3.30531338e-03 -5.13595435e+01] [-1.47467134e-02 3.47611287e-04 9.99891201e-01 -5.03638657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:-51.37, Z:-5.04 [[ 9.79580847e-01 2.00562262e-01 1.40051052e-02 2.44066680e+02] [-2.00536718e-01 9.79680897e-01 -3.21949375e-03 -5.13659795e+01] [-1.43662429e-02 3.45216600e-04 9.99896741e-01 -5.03672285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:-51.37, Z:-5.04 [[ 9.79663099e-01 2.00192400e-01 1.35357184e-02 2.44094644e+02] [-2.00168515e-01 9.79756546e-01 -3.11074803e-03 -5.13726791e+01] [-1.38844568e-02 3.38060403e-04 9.99903549e-01 -5.03727650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.208623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:244.12, Y:-51.38, Z:-5.03 [[ 9.79767643e-01 1.99701978e-01 1.32093184e-02 2.44121566e+02] [-1.99679194e-01 9.79856626e-01 -3.03516577e-03 -5.13795802e+01] [-1.35493668e-02 3.36131144e-04 9.99908147e-01 -5.02765047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.238623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:-51.39, Z:-5.04 [[ 9.79618146e-01 2.00395460e-01 1.37821617e-02 2.44147874e+02] [-2.00370739e-01 9.79715032e-01 -3.16587990e-03 -5.13866121e+01] [-1.41370190e-02 3.39811472e-04 9.99900010e-01 -5.03759390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.268623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.18, Y:-51.39, Z:-5.04 [[ 9.79153062e-01 2.02589719e-01 1.47203113e-02 2.44176446e+02] [-2.02561781e-01 9.79263651e-01 -3.38035067e-03 -5.13929607e+01] [-1.50998901e-02 3.28108242e-04 9.99885936e-01 -5.03764800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.298623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.20, Y:-51.40, Z:-5.03 [[ 9.78878943e-01 2.03915729e-01 1.46421044e-02 2.44203453e+02] [-2.03888245e-01 9.78988397e-01 -3.36173315e-03 -5.13986200e+01] [-1.50199606e-02 3.05376809e-04 9.99887147e-01 -5.03176702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.328623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.23, Y:-51.41, Z:-5.04 [[ 9.78540237e-01 2.05509943e-01 1.49889476e-02 2.44231127e+02] [-2.05481344e-01 9.78654986e-01 -3.44039070e-03 -5.14051578e+01] [-1.53760428e-02 2.86611632e-04 9.99881741e-01 -5.03933085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.358623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.26, Y:-51.41, Z:-5.04 [[ 9.77916202e-01 2.08509438e-01 1.42729038e-02 2.44258328e+02] [-2.08483834e-01 9.78020328e-01 -3.27541967e-03 -5.14112749e+01] [-1.46421459e-02 2.27416272e-04 9.99892772e-01 -5.04059705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.388623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.29, Y:-51.42, Z:-5.03 [[ 9.77616133e-01 2.09957537e-01 1.35841748e-02 2.44286959e+02] [-2.09934497e-01 9.77710486e-01 -3.11650374e-03 -5.14175036e+01] [-1.39357236e-02 1.94957434e-04 9.99902874e-01 -5.03357254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.418623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.31, Y:-51.42, Z:-5.04 [[ 9.77078115e-01 2.12449732e-01 1.35450270e-02 2.44313733e+02] [-2.12427071e-01 9.77171984e-01 -3.10693312e-03 -5.14240116e+01] [-1.38958880e-02 1.58385943e-04 9.99903435e-01 -5.04167727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.34, Y:-51.43, Z:-5.04 [[ 9.76916227e-01 2.13187164e-01 1.36352182e-02 2.44340686e+02] [-2.13164285e-01 9.77011367e-01 -3.12673007e-03 -5.14295990e+01] [-1.39883418e-02 1.48011819e-04 9.99902147e-01 -5.04199772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.37, Y:-51.44, Z:-5.04 [[ 9.76757394e-01 2.13881493e-01 1.41315628e-02 2.44368281e+02] [-2.13857006e-01 9.76859604e-01 -3.23945506e-03 -5.14350844e+01] [-1.44974123e-02 1.42027967e-04 9.99894897e-01 -5.04251384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.40, Y:-51.44, Z:-5.04 [[ 9.76423791e-01 2.15389522e-01 1.42805681e-02 2.44395083e+02] [-2.15364692e-01 9.76528207e-01 -3.27258125e-03 -5.14405368e+01] [-1.46502573e-02 1.19896022e-04 9.99892672e-01 -5.04302677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53862385300002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.42, Y:-51.45, Z:-5.04 [[ 9.76296849e-01 2.15953627e-01 1.44393076e-02 2.44422289e+02] [-2.15928324e-01 9.76403615e-01 -3.30762950e-03 -5.14466046e+01] [-1.48128867e-02 1.11372768e-04 9.99890277e-01 -5.04355465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56862385300002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.45, Y:-51.45, Z:-5.04 [[ 9.76181674e-01 2.16460295e-01 1.46383085e-02 2.44449912e+02] [-2.16434363e-01 9.76291417e-01 -3.35209724e-03 -5.14529471e+01] [-1.50168509e-02 1.04022930e-04 9.99887235e-01 -5.04404274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59862385300002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.48, Y:-51.46, Z:-5.04 [[ 9.76183115e-01 2.16454913e-01 1.46218047e-02 2.44476387e+02] [-2.16429055e-01 9.76292610e-01 -3.34727991e-03 -5.14589763e+01] [-1.49996951e-02 1.02974757e-04 9.99887493e-01 -5.04404506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62862385300002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.50, Y:-51.46, Z:-5.04 [[ 9.76314917e-01 2.15841692e-01 1.48844275e-02 2.44504580e+02] [-2.15814846e-01 9.76428365e-01 -3.40603041e-03 -5.14633564e+01] [-1.52687406e-02 1.13077865e-04 9.99883420e-01 -5.04485133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65862385300002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.53, Y:-51.47, Z:-5.05 [[ 9.76364271e-01 2.15623490e-01 1.48094504e-02 2.44531970e+02] [-2.15596906e-01 9.76476573e-01 -3.38773369e-03 -5.14683042e+01] [-1.51915563e-02 1.14790452e-04 9.99884595e-01 -5.04558591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68862385300002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:244.56, Y:-51.47, Z:-5.05 [[ 9.76441425e-01 2.15267392e-01 1.49027780e-02 2.44559720e+02] [-2.15240444e-01 9.76555137e-01 -3.40820824e-03 -5.14735870e+01] [-1.52870605e-02 1.20235168e-04 9.99883139e-01 -5.04629873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.59, Y:-51.48, Z:-5.05 [[ 9.76631895e-01 2.14414029e-01 1.47229692e-02 2.44587592e+02] [-2.14387646e-01 9.76742856e-01 -3.36603654e-03 -5.14786582e+01] [-1.51022804e-02 1.30955947e-04 9.99885945e-01 -5.04714705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.61, Y:-51.48, Z:-5.05 [[ 9.76710309e-01 2.14053081e-01 1.47732914e-02 2.44614528e+02] [-2.14026493e-01 9.76822021e-01 -3.37641974e-03 -5.14845118e+01] [-1.51536094e-02 1.35908220e-04 9.99885168e-01 -5.04755228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.64, Y:-51.49, Z:-5.05 [[ 9.76967249e-01 2.12852521e-01 1.51260694e-02 2.44641371e+02] [-2.12824522e-01 9.77084326e-01 -3.45591841e-03 -5.14898765e+01] [-1.55150462e-02 1.57120626e-04 9.99879622e-01 -5.04775176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:-51.49, Z:-5.05 [[ 9.77177430e-01 2.11883957e-01 1.51479142e-02 2.44668959e+02] [-2.11855782e-01 9.77294817e-01 -3.45953097e-03 -5.14948155e+01] [-1.55369972e-02 1.71402375e-04 9.99879279e-01 -5.04765922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.70, Y:-51.50, Z:-5.05 [[ 9.77389283e-01 2.10900122e-01 1.52095078e-02 2.44695208e+02] [-2.10871614e-01 9.77507598e-01 -3.47258464e-03 -5.15000386e+01] [-1.55997779e-02 1.86813566e-04 9.99878299e-01 -5.04796388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.72, Y:-51.51, Z:-5.05 [[ 9.78093364e-01 2.07542791e-01 1.61046762e-02 2.44722661e+02] [-2.07510405e-01 9.78225907e-01 -3.67504622e-03 -5.15054335e+01] [-1.65167408e-02 2.52650450e-04 9.99863557e-01 -5.04889946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.75, Y:-51.51, Z:-5.05 [[ 9.78882622e-01 2.03819417e-01 1.56989356e-02 2.44750529e+02] [-2.03788182e-01 9.79008453e-01 -3.58127471e-03 -5.15121484e+01] [-1.60993239e-02 3.06390037e-04 9.99870351e-01 -5.05020905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.78, Y:-51.52, Z:-5.05 [[ 9.79262260e-01 2.02028279e-01 1.51657723e-02 2.44778131e+02] [-2.01998926e-01 9.79379635e-01 -3.45894536e-03 -5.15193715e+01] [-1.55518533e-02 3.23744943e-04 9.99879010e-01 -5.05078200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.958623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:244.81, Y:-51.53, Z:-5.05 [[ 9.79713456e-01 1.99832349e-01 1.51187315e-02 2.44805736e+02] [-1.99802928e-01 9.79830039e-01 -3.44749116e-03 -5.15263825e+01] [-1.55027075e-02 3.56786664e-04 9.99879762e-01 -5.05171878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.988623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:244.83, Y:-51.53, Z:-5.04 [[ 9.80345427e-01 1.96778916e-01 1.41739788e-02 2.44833339e+02] [-1.96752746e-01 9.80447813e-01 -3.23148563e-03 -5.15324011e+01] [-1.45327347e-02 3.79202916e-04 9.99894322e-01 -5.04326508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.86, Y:-51.54, Z:-5.05 [[ 9.80494889e-01 1.95988220e-01 1.47780512e-02 2.44860777e+02] [-1.95959697e-01 9.80606166e-01 -3.36820871e-03 -5.15392717e+01] [-1.51515774e-02 4.06608995e-04 9.99885126e-01 -5.05236337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.89, Y:-51.55, Z:-5.05 [[ 9.80609080e-01 1.95414016e-01 1.48051988e-02 2.44888862e+02] [-1.95385334e-01 9.80720750e-01 -3.37369589e-03 -5.15467810e+01] [-1.51790332e-02 4.15558112e-04 9.99884705e-01 -5.05280263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.92, Y:-51.55, Z:-5.05 [[ 9.80624868e-01 1.95334766e-01 1.48053306e-02 2.44917475e+02] [-1.95306083e-01 9.80736537e-01 -3.37311737e-03 -5.15531982e+01] [-1.51790158e-02 4.16191638e-04 9.99884705e-01 -5.05336846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10862385300004 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:244.95, Y:-51.56, Z:-5.04 [[ 9.80574481e-01 1.95631012e-01 1.42194835e-02 2.44946160e+02] [-1.95604605e-01 9.80677496e-01 -3.23833848e-03 -5.15601604e+01] [-1.45782469e-02 3.94035630e-04 9.99893654e-01 -5.04381254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.138623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.97, Y:-51.57, Z:-5.05 [[ 9.80433143e-01 1.96302763e-01 1.46995547e-02 2.44972595e+02] [-1.96274629e-01 9.80543251e-01 -3.34694771e-03 -5.15672046e+01] [-1.50705643e-02 3.96308814e-04 9.99886354e-01 -5.05400477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16862385300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:245.00, Y:-51.57, Z:-5.06 [[ 9.80022066e-01 1.98343358e-01 1.47194710e-02 2.45000185e+02] [-1.98315392e-01 9.80132532e-01 -3.35050743e-03 -5.15742480e+01] [-1.50915833e-02 3.64473550e-04 9.99886049e-01 -5.05514848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.198623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:245.03, Y:-51.58, Z:-5.06 [[ 9.79775090e-01 1.99583433e-01 1.43953374e-02 2.45027402e+02] [-1.99556828e-01 9.79880778e-01 -3.27607881e-03 -5.15805498e+01] [-1.47595655e-02 3.37132540e-04 9.99891015e-01 -5.05599618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.06, Y:-51.59, Z:-5.06 [[ 9.79084124e-01 2.02961556e-01 1.41733876e-02 2.45055067e+02] [-2.02936133e-01 9.79186666e-01 -3.22464360e-03 -5.15869876e+01] [-1.45328708e-02 2.80904893e-04 9.99894353e-01 -5.05655934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.258623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:245.08, Y:-51.59, Z:-5.06 [[ 9.78734579e-01 2.04650069e-01 1.40347384e-02 2.45082034e+02] [-2.04625323e-01 9.78835168e-01 -3.19246595e-03 -5.15930373e+01] [-1.43910339e-02 2.52713928e-04 9.99896412e-01 -5.05737980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28862385300005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:245.11, Y:-51.60, Z:-5.06 [[ 9.78360041e-01 2.06440252e-01 1.39302435e-02 2.45110191e+02] [-2.06416067e-01 9.78459183e-01 -3.16778726e-03 -5.15992853e+01] [-1.42841335e-02 2.23810396e-04 9.99897952e-01 -5.05788217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.14, Y:-51.61, Z:-5.06 [[ 9.77706390e-01 2.09522140e-01 1.38089986e-02 2.45137132e+02] [-2.09498690e-01 9.77803887e-01 -3.13962472e-03 -5.16056284e+01] [-1.41603134e-02 1.76664027e-04 9.99899722e-01 -5.05837728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.348623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.17, Y:-51.61, Z:-5.06 [[ 9.77480040e-01 2.10584320e-01 1.36753787e-02 2.45165209e+02] [-2.10561440e-01 9.77575684e-01 -3.10826972e-03 -5.16120922e+01] [-1.40232706e-02 1.58764187e-04 9.99901657e-01 -5.05920466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.378623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:245.19, Y:-51.62, Z:-5.06 [[ 9.77184985e-01 2.11970609e-01 1.33404102e-02 2.45192683e+02] [-2.11948974e-01 9.77276032e-01 -3.03147291e-03 -5.16181500e+01] [-1.36798463e-02 1.34823560e-04 9.99906417e-01 -5.05977970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.408623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.22, Y:-51.62, Z:-5.06 [[ 9.77086471e-01 2.12404384e-01 1.36530301e-02 2.45219395e+02] [-2.12381771e-01 9.77181846e-01 -3.10208432e-03 -5.16245989e+01] [-1.40003895e-02 1.31349896e-04 9.99901981e-01 -5.06025601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.438623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.25, Y:-51.63, Z:-5.06 [[ 9.77027512e-01 2.12623925e-01 1.44328635e-02 2.45247099e+02] [-2.12598706e-01 9.77134100e-01 -3.27738207e-03 -5.16321265e+01] [-1.47996929e-02 1.33684343e-04 9.99890470e-01 -5.06058938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.468623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.27, Y:-51.64, Z:-5.06 [[ 9.77019042e-01 2.12664849e-01 1.44032135e-02 2.45274295e+02] [-2.12639749e-01 9.77125194e-01 -3.26996746e-03 -5.16383298e+01] [-1.47691500e-02 1.32124763e-04 9.99890921e-01 -5.06069950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.498623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.30, Y:-51.64, Z:-5.06 [[ 9.76967302e-01 2.12906671e-01 1.43401618e-02 2.45302394e+02] [-2.12881830e-01 9.77072532e-01 -3.25468382e-03 -5.16448205e+01] [-1.47043221e-02 1.26959783e-04 9.99891878e-01 -5.06105005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.528623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.33, Y:-51.65, Z:-5.06 [[ 9.76858192e-01 2.13382226e-01 1.47002537e-02 2.45329451e+02] [-2.13356187e-01 9.76968787e-01 -3.33569253e-03 -5.16521771e+01] [-1.50734666e-02 1.22108490e-04 9.99886381e-01 -5.06128222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.36, Y:-51.66, Z:-5.06 [[ 9.76777298e-01 2.13745003e-01 1.48048625e-02 2.45356274e+02] [-2.13718648e-01 9.76889482e-01 -3.35848232e-03 -5.16587381e+01] [-1.51805733e-02 1.16414095e-04 9.99884762e-01 -5.06201613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.588623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.38, Y:-51.66, Z:-5.06 [[ 9.76760405e-01 2.13881258e-01 1.39254411e-02 2.45384433e+02] [-2.13857967e-01 9.76859660e-01 -3.15813423e-03 -5.16649410e+01] [-1.42786674e-02 1.06673944e-04 9.99898049e-01 -5.06304031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.41, Y:-51.67, Z:-5.06 [[ 9.76827556e-01 2.13588473e-01 1.37072713e-02 2.45411803e+02] [-2.13565886e-01 9.76923719e-01 -3.10805517e-03 -5.16711882e+01] [-1.40548032e-02 1.08628383e-04 9.99901220e-01 -5.06364358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.44, Y:-51.68, Z:-5.06 [[ 9.76923331e-01 2.13138475e-01 1.38851175e-02 2.45439363e+02] [-2.13115266e-01 9.77021994e-01 -3.14743729e-03 -5.16778124e+01] [-1.42369052e-02 1.15674407e-04 9.99898643e-01 -5.06394789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:-51.68, Z:-5.06 [[ 9.77213500e-01 2.11791754e-01 1.40722589e-02 2.45467533e+02] [-2.11767792e-01 9.77314808e-01 -3.18870103e-03 -5.16843306e+01] [-1.44283676e-02 1.35990501e-04 9.99895896e-01 -5.06415026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.50, Y:-51.69, Z:-5.07 [[ 9.77347900e-01 2.11146609e-01 1.44288451e-02 2.45495190e+02] [-2.11121358e-01 9.77454392e-01 -3.26875345e-03 -5.16907254e+01] [-1.47937242e-02 1.48471953e-04 9.99890556e-01 -5.06500212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.52, Y:-51.70, Z:-5.07 [[ 9.77737601e-01 2.09317416e-01 1.46766032e-02 2.45521782e+02] [-2.09291095e-01 9.77847732e-01 -3.32417077e-03 -5.16974395e+01] [-1.50472900e-02 1.78484407e-04 9.99886767e-01 -5.06515153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.768623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.55, Y:-51.70, Z:-5.07 [[ 9.77951136e-01 2.08307479e-01 1.48178894e-02 2.45549788e+02] [-2.08280548e-01 9.78063370e-01 -3.35516773e-03 -5.17039841e+01] [-1.51917413e-02 1.94911979e-04 9.99884580e-01 -5.06581161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.58, Y:-51.71, Z:-5.07 [[ 9.78417180e-01 2.06165293e-01 1.39890770e-02 2.45577552e+02] [-2.06141081e-01 9.78517157e-01 -3.16686345e-03 -5.17116850e+01] [-1.43414492e-02 2.14790151e-04 9.99897133e-01 -5.06732118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:-51.72, Z:-5.07 [[ 9.78672561e-01 2.04976268e-01 1.35922235e-02 2.45605370e+02] [-2.04953304e-01 9.78766918e-01 -3.07636750e-03 -5.17192235e+01] [-1.39342010e-02 2.24985354e-04 9.99902889e-01 -5.06814726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.63, Y:-51.73, Z:-5.07 [[ 9.78856209e-01 2.04109557e-01 1.34093489e-02 2.45631994e+02] [-2.04087135e-01 9.78948024e-01 -3.03437315e-03 -5.17260365e+01] [-1.37464002e-02 2.33539403e-04 9.99905487e-01 -5.06907718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.888623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.66, Y:-51.73, Z:-5.07 [[ 9.78995880e-01 2.03438743e-01 1.34069227e-02 2.45660264e+02] [-2.03416279e-01 9.79087646e-01 -3.03289315e-03 -5.17329414e+01] [-1.37435604e-02 2.42003572e-04 9.99905524e-01 -5.06924219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.69, Y:-51.74, Z:-5.07 [[ 9.78903792e-01 2.03842338e-01 1.39880861e-02 2.45688029e+02] [-2.03817935e-01 9.79003698e-01 -3.16365858e-03 -5.17391426e+01] [-1.43392756e-02 2.45894557e-04 9.99897157e-01 -5.06933503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.948623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:245.72, Y:-51.74, Z:-5.06 [[ 9.78822029e-01 2.04260165e-01 1.36095411e-02 2.45715384e+02] [-2.04237114e-01 9.78916611e-01 -3.07742267e-03 -5.17449932e+01] [-1.39512007e-02 2.32675716e-04 9.99902650e-01 -5.06044033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.74, Y:-51.75, Z:-5.07 [[ 9.78696477e-01 2.04786064e-01 1.46926287e-02 2.45742785e+02] [-2.04759274e-01 9.78806727e-01 -3.32121550e-03 -5.17518453e+01] [-1.50613825e-02 2.42009916e-04 9.99886542e-01 -5.07000366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.008623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.77, Y:-51.76, Z:-5.07 [[ 9.78599864e-01 2.05209487e-01 1.52109688e-02 2.45770418e+02] [-2.05180835e-01 9.78718043e-01 -3.43764146e-03 -5.17580984e+01] [-1.55926862e-02 2.43076180e-04 9.99878397e-01 -5.06992150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03862385300005 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:245.80, Y:-51.76, Z:-5.06 [[ 9.78397893e-01 2.06136694e-01 1.56596996e-02 2.45798778e+02] [-2.06106463e-01 9.78523177e-01 -3.53801689e-03 -5.17647344e+01] [-1.60526941e-02 2.34022980e-04 9.99871120e-01 -5.06224831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.068623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:245.83, Y:-51.77, Z:-5.07 [[ 9.78316709e-01 2.06453611e-01 1.65324813e-02 2.45826537e+02] [-2.06419975e-01 9.78456360e-01 -3.73435097e-03 -5.17711944e+01] [-1.69472817e-02 2.40743568e-04 9.99856356e-01 -5.07016154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.098623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.85, Y:-51.78, Z:-5.07 [[ 9.78321320e-01 2.06413504e-01 1.67588975e-02 2.45854051e+02] [-2.06378950e-01 9.78464821e-01 -3.78455258e-03 -5.17775873e+01] [-1.71791744e-02 2.43824797e-04 9.99852397e-01 -5.07096581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.128623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.88, Y:-51.78, Z:-5.07 [[ 9.78394504e-01 2.06103115e-01 1.63003032e-02 2.45881177e+02] [-2.06070389e-01 9.78530249e-01 -3.68067027e-03 -5.17842634e+01] [-1.67089374e-02 2.42137739e-04 9.99860367e-01 -5.07222156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.158623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.91, Y:-51.79, Z:-5.07 [[ 9.78480567e-01 2.05737742e-01 1.57404285e-02 2.45908626e+02] [-2.05707195e-01 9.78607135e-01 -3.55326753e-03 -5.17915968e+01] [-1.61347368e-02 2.38883850e-04 9.99869798e-01 -5.07237494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.94, Y:-51.80, Z:-5.07 [[ 9.78839902e-01 2.04056155e-01 1.52817654e-02 2.45937363e+02] [-2.04027170e-01 9.78959151e-01 -3.44888933e-03 -5.17999981e+01] [-1.56639912e-02 2.58015150e-04 9.99877279e-01 -5.07341471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.218623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.97, Y:-51.81, Z:-5.07 [[ 9.79005803e-01 2.03254280e-01 1.53406273e-02 2.45966352e+02] [-2.03224980e-01 9.79125949e-01 -3.46177963e-03 -5.18075003e+01] [-1.57240278e-02 2.71503676e-04 9.99876333e-01 -5.07430063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.248623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:245.99, Y:-51.82, Z:-5.07 [[ 9.79361931e-01 2.01564112e-01 1.49035826e-02 2.45993991e+02] [-2.01536267e-01 9.79475280e-01 -3.36279207e-03 -5.18158064e+01] [-1.52755089e-02 2.89778136e-04 9.99883281e-01 -5.06677097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.278623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.02, Y:-51.82, Z:-5.08 [[ 9.79561418e-01 2.00580803e-01 1.50588760e-02 2.46022437e+02] [-2.00552264e-01 9.79677113e-01 -3.39744328e-03 -5.18238241e+01] [-1.54342981e-02 3.07912665e-04 9.99880837e-01 -5.07587265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.05, Y:-51.83, Z:-5.08 [[ 9.79634589e-01 2.00219872e-01 1.51021561e-02 2.46051293e+02] [-2.00191132e-01 9.79750940e-01 -3.40682552e-03 -5.18322033e+01] [-1.54784658e-02 3.14126380e-04 9.99880152e-01 -5.07655586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.08, Y:-51.84, Z:-5.08 [[ 9.79658634e-01 2.00129204e-01 1.47398509e-02 2.46079664e+02] [-2.00101822e-01 9.79769466e-01 -3.32473581e-03 -5.18417139e+01] [-1.51070326e-02 3.07635111e-04 9.99885835e-01 -5.07726641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.11, Y:-51.85, Z:-5.08 [[ 9.79372186e-01 2.01525159e-01 1.47557336e-02 2.46107845e+02] [-2.01497883e-01 9.79483297e-01 -3.32789828e-03 -5.18505188e+01] [-1.51236499e-02 2.86001929e-04 9.99885590e-01 -5.07803235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.14, Y:-51.86, Z:-5.08 [[ 9.79151801e-01 2.02565926e-01 1.51259926e-02 2.46135896e+02] [-2.02537389e-01 9.79268589e-01 -3.41130102e-03 -5.18578391e+01] [-1.55034228e-02 2.76602498e-04 9.99879776e-01 -5.07846229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:246.17, Y:-51.87, Z:-5.07 [[ 9.78886661e-01 2.03888905e-01 1.44989671e-02 2.46165356e+02] [-2.03862838e-01 9.78994001e-01 -3.26931935e-03 -5.18650372e+01] [-1.48609797e-02 2.44492530e-04 9.99889540e-01 -5.06986338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.19, Y:-51.87, Z:-5.08 [[ 9.78568222e-01 2.05375643e-01 1.50026557e-02 2.46192413e+02] [-2.05347914e-01 9.78683193e-01 -3.38255386e-03 -5.18726191e+01] [-1.53775412e-02 2.29295677e-04 9.99881732e-01 -5.07964447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.22, Y:-51.88, Z:-5.08 [[ 9.77999092e-01 2.08096863e-01 1.46106944e-02 2.46219216e+02] [-2.08070874e-01 9.78108206e-01 -3.29375979e-03 -5.18810293e+01] [-1.49762611e-02 1.81234141e-04 9.99887833e-01 -5.08038333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.518623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.25, Y:-51.89, Z:-5.08 [[ 9.77328319e-01 2.11224154e-01 1.46189162e-02 2.46246885e+02] [-2.11198499e-01 9.77437639e-01 -3.29467770e-03 -5.18891164e+01] [-1.49849945e-02 1.32488657e-04 9.99887710e-01 -5.08109025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.28, Y:-51.90, Z:-5.08 [[ 9.76905131e-01 2.13184383e-01 1.44493594e-02 2.46275217e+02] [-2.13159544e-01 9.77011980e-01 -3.25577166e-03 -5.18959660e+01] [-1.48112770e-02 1.00561171e-04 9.99890302e-01 -5.08184160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.578623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:246.30, Y:-51.90, Z:-5.08 [[ 9.76460167e-01 2.15243465e-01 1.39925848e-02 2.46303814e+02] [-2.15220393e-01 9.76560416e-01 -3.15219809e-03 -5.19020042e+01] [-1.43430945e-02 6.65062687e-05 9.99897130e-01 -5.07579225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.33, Y:-51.91, Z:-5.08 [[ 9.75486395e-01 2.19577353e-01 1.45629242e-02 2.46331122e+02] [-2.19552854e-01 9.75595093e-01 -3.28000694e-03 -5.19083795e+01] [-1.49277326e-02 2.27057305e-06 9.99888575e-01 -5.08320874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.36, Y:-51.91, Z:-5.08 [[ 9.75002647e-01 2.21738319e-01 1.42111523e-02 2.46359815e+02] [-2.21715232e-01 9.75106208e-01 -3.19980299e-03 -5.19144159e+01] [-1.45669018e-02 -3.10125448e-05 9.99893897e-01 -5.08373179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:246.39, Y:-51.92, Z:-5.08 [[ 9.74174268e-01 2.25397808e-01 1.34284969e-02 2.46387616e+02] [-2.25377549e-01 9.74266812e-01 -3.02304478e-03 -5.19197770e+01] [-1.37643266e-02 -8.15092931e-05 9.99905264e-01 -5.07748119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.698623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:246.42, Y:-51.93, Z:-5.08 [[ 9.73881380e-01 2.26660514e-01 1.34189653e-02 2.46415184e+02] [-2.26640415e-01 9.73973820e-01 -3.02009239e-03 -5.19252850e+01] [-1.37542566e-02 -1.00068120e-04 9.99905401e-01 -5.07817572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.44, Y:-51.93, Z:-5.09 [[ 9.73726379e-01 2.27275974e-01 1.42327373e-02 2.46442176e+02] [-2.27253442e-01 9.73830385e-01 -3.20238029e-03 -5.19309470e+01] [-1.45880961e-02 -1.16196375e-04 9.99893581e-01 -5.08599165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.758623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:246.47, Y:-51.93, Z:-5.09 [[ 9.73768755e-01 2.27038095e-01 1.51034550e-02 2.46469663e+02] [-2.27012711e-01 9.73885870e-01 -3.39709451e-03 -5.19346022e+01] [-1.54803113e-02 -1.20691775e-04 9.99880166e-01 -5.08605418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.50, Y:-51.94, Z:-5.09 [[ 9.74223958e-01 2.24998402e-01 1.62295581e-02 2.46498193e+02] [-2.24968826e-01 9.74359128e-01 -3.64931954e-03 -5.19403588e+01] [-1.66345091e-02 -9.58900959e-05 9.99861632e-01 -5.08687900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.818623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.53, Y:-51.95, Z:-5.09 [[ 9.74551617e-01 2.23583973e-01 1.61044498e-02 2.46526191e+02] [-2.23554670e-01 9.74684668e-01 -3.62041754e-03 -5.19463699e+01] [-1.65062277e-02 -7.19412074e-05 9.99863760e-01 -5.08744205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.848623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.55, Y:-51.95, Z:-5.09 [[ 9.74973565e-01 2.21748323e-01 1.59445537e-02 2.46553297e+02] [-2.21719366e-01 9.75103933e-01 -3.58374989e-03 -5.19519036e+01] [-1.63422875e-02 -4.11549228e-05 9.99866455e-01 -5.08876650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.58, Y:-51.96, Z:-5.09 [[ 9.75858647e-01 2.17900686e-01 1.48051210e-02 2.46580914e+02] [-2.17875289e-01 9.75970948e-01 -3.32683376e-03 -5.19575065e+01] [-1.51742873e-02 2.08494793e-05 9.99884864e-01 -5.08977375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.908623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.61, Y:-51.96, Z:-5.09 [[ 9.76752458e-01 2.13885196e-01 1.44138254e-02 2.46608722e+02] [-2.13860699e-01 9.76858801e-01 -3.23806796e-03 -5.19635834e+01] [-1.47728470e-02 8.02400552e-05 9.99890872e-01 -5.09125060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.64, Y:-51.97, Z:-5.09 [[ 9.77209968e-01 2.11804457e-01 1.41262307e-02 2.46636851e+02] [-2.11780720e-01 9.77312059e-01 -3.17278592e-03 -5.19696488e+01] [-1.44777458e-02 1.08814726e-04 9.99895186e-01 -5.09185150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.968623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.67, Y:-51.98, Z:-5.09 [[ 9.77217384e-01 2.11770229e-01 1.41263908e-02 2.46665484e+02] [-2.11746498e-01 9.77319476e-01 -3.17207298e-03 -5.19759918e+01] [-1.44777474e-02 1.08591088e-04 9.99895186e-01 -5.09241738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.998623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.69, Y:-51.98, Z:-5.09 [[ 9.77693715e-01 2.09555691e-01 1.41919541e-02 2.46693995e+02] [-2.09531513e-01 9.77796703e-01 -3.18632786e-03 -5.19822191e+01] [-1.45445591e-02 1.41591105e-04 9.99894212e-01 -5.09308136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.72, Y:-51.99, Z:-5.09 [[ 9.78715420e-01 2.04669715e-01 1.50477050e-02 2.46721696e+02] [-2.04641969e-01 9.78831066e-01 -3.37761330e-03 -5.19893474e+01] [-1.54204562e-02 2.26330257e-04 9.99881072e-01 -5.09345631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.75, Y:-52.00, Z:-5.09 [[ 9.79252302e-01 2.02035108e-01 1.57080810e-02 2.46749248e+02] [-2.02004543e-01 9.79378240e-01 -3.52523183e-03 -5.19965446e+01] [-1.60963733e-02 2.78987669e-04 9.99870406e-01 -5.09364088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.78, Y:-52.01, Z:-5.09 [[ 9.80210140e-01 1.97260685e-01 1.66223710e-02 2.46777165e+02] [-1.97225784e-01 9.80350998e-01 -3.72966679e-03 -5.20055486e+01] [-1.70314746e-02 3.77497063e-04 9.99854883e-01 -5.09345430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.81, Y:-52.01, Z:-5.09 [[ 9.80617485e-01 1.95209432e-01 1.68115078e-02 2.46806784e+02] [-1.95173426e-01 9.80761491e-01 -3.77235820e-03 -5.20138912e+01] [-1.72244794e-02 4.18080825e-04 9.99851560e-01 -5.09377203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:246.84, Y:-52.02, Z:-5.09 [[ 9.81208010e-01 1.92208237e-01 1.69362158e-02 2.46835977e+02] [-1.92171248e-01 9.81354049e-01 -3.80034159e-03 -5.20227170e+01] [-1.73508809e-02 4.74271892e-04 9.99849350e-01 -5.09463898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17862385300003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:246.87, Y:-52.03, Z:-5.09 [[ 9.81374841e-01 1.91407377e-01 1.63290471e-02 2.46866082e+02] [-1.91372883e-01 9.81510568e-01 -3.66403828e-03 -5.20303451e+01] [-1.67284562e-02 4.70858156e-04 9.99859959e-01 -5.08564225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.208623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.89, Y:-52.04, Z:-5.10 [[ 9.81606281e-01 1.90196516e-01 1.65648247e-02 2.46894851e+02] [-1.90160840e-01 9.81745912e-01 -3.71737490e-03 -5.20404078e+01] [-1.69694807e-02 4.99017590e-04 9.99855883e-01 -5.09590211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:-52.05, Z:-5.10 [[ 9.81625380e-01 1.90132672e-01 1.61610604e-02 2.46924631e+02] [-1.90098702e-01 9.81758284e-01 -3.62692033e-03 -5.20487403e+01] [-1.65558509e-02 4.88080448e-04 9.99862823e-01 -5.09627362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:-52.06, Z:-5.10 [[ 9.81547632e-01 1.90523910e-01 1.62753375e-02 2.46954993e+02] [-1.90489505e-01 9.81682436e-01 -3.65295913e-03 -5.20573860e+01] [-1.66731890e-02 4.85272403e-04 9.99860875e-01 -5.09681760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.98, Y:-52.07, Z:-5.10 [[ 9.81206204e-01 1.92306175e-01 1.58971931e-02 2.46984240e+02] [-1.92273577e-01 9.81334875e-01 -3.56848986e-03 -5.20669149e+01] [-1.62867126e-02 4.44814209e-04 9.99867264e-01 -5.09714077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:-52.07, Z:-5.10 [[ 9.80950918e-01 1.93596307e-01 1.59927205e-02 2.47013206e+02] [-1.93563485e-01 9.81081183e-01 -3.59012539e-03 -5.20743884e+01] [-1.63851922e-02 4.26130072e-04 9.99865663e-01 -5.09813698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.04, Y:-52.08, Z:-5.10 [[ 9.80173495e-01 1.97489478e-01 1.60569617e-02 2.47042651e+02] [-1.97456910e-01 9.80304940e-01 -3.60473745e-03 -5.20838088e+01] [-1.64526165e-02 3.62710078e-04 9.99864581e-01 -5.09854785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.388623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.07, Y:-52.09, Z:-5.10 [[ 9.79635699e-01 2.00131005e-01 1.61702695e-02 2.47073504e+02] [-2.00098339e-01 9.79769094e-01 -3.62993363e-03 -5.20921562e+01] [-1.65695926e-02 3.20368494e-04 9.99862664e-01 -5.09927484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.10, Y:-52.10, Z:-5.10 [[ 9.79028098e-01 2.03084506e-01 1.61451687e-02 2.47103729e+02] [-2.03052295e-01 9.79161176e-01 -3.62715616e-03 -5.21002081e+01] [-1.65453416e-02 2.72774232e-04 9.99863079e-01 -5.09966450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.448623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.13, Y:-52.11, Z:-5.10 [[ 9.77718160e-01 2.09246523e-01 1.68253272e-02 2.47132859e+02] [-2.09212398e-01 9.77862905e-01 -3.78311425e-03 -5.21088563e+01] [-1.72444668e-02 1.78752454e-04 9.99851287e-01 -5.10044436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.16, Y:-52.12, Z:-5.10 [[ 9.77034487e-01 2.12432365e-01 1.66162772e-02 2.47162092e+02] [-2.12399540e-01 9.77175765e-01 -3.73631256e-03 -5.21160539e+01] [-1.70307371e-02 1.21216612e-04 9.99854959e-01 -5.10038150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.508623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.19, Y:-52.12, Z:-5.09 [[ 9.75785206e-01 2.18170989e-01 1.56413262e-02 2.47190880e+02] [-2.18142634e-01 9.75910559e-01 -3.51738419e-03 -5.21215820e+01] [-1.60319265e-02 2.01713687e-05 9.99871480e-01 -5.09425015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:-52.13, Z:-5.10 [[ 9.75220565e-01 2.20667076e-01 1.58395456e-02 2.47219921e+02] [-2.20638333e-01 9.75349189e-01 -3.56156205e-03 -5.21281260e+01] [-1.62350074e-02 -2.15023852e-05 9.99868203e-01 -5.10204346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.568623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:247.25, Y:-52.13, Z:-5.09 [[ 9.74459665e-01 2.24066338e-01 1.49210529e-02 2.47248635e+02] [-2.24041235e-01 9.74573892e-01 -3.35474217e-03 -5.21339222e+01] [-1.52933534e-02 -7.38701873e-05 9.99883047e-01 -5.09387624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.598623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.28, Y:-52.14, Z:-5.10 [[ 9.74261678e-01 2.24893747e-01 1.53943121e-02 2.47278437e+02] [-2.24867141e-01 9.74383289e-01 -3.46043309e-03 -5.21409669e+01] [-1.57781902e-02 -9.03076017e-05 9.99875513e-01 -5.10461478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.628623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.31, Y:-52.15, Z:-5.11 [[ 9.74168145e-01 2.25302455e-01 1.53371583e-02 2.47306769e+02] [-2.25276096e-01 9.74288866e-01 -3.44762988e-03 -5.21476571e+01] [-1.57195820e-02 -9.65239356e-05 9.99876435e-01 -5.10562876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.658623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.34, Y:-52.15, Z:-5.11 [[ 9.74366726e-01 2.24427125e-01 1.55547032e-02 2.47335523e+02] [-2.24399905e-01 9.74490871e-01 -3.49633027e-03 -5.21544119e+01] [-1.59425876e-02 -8.37660385e-05 9.99872905e-01 -5.10619713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.688623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.36, Y:-52.16, Z:-5.11 [[ 9.74592842e-01 2.23419558e-01 1.58900115e-02 2.47364061e+02] [-2.23391020e-01 9.74722369e-01 -3.57153272e-03 -5.21616887e+01] [-1.62862999e-02 -6.88956483e-05 9.99867367e-01 -5.10725131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.39, Y:-52.17, Z:-5.11 [[ 9.75072170e-01 2.21303588e-01 1.60930101e-02 2.47394041e+02] [-2.21274037e-01 9.75204963e-01 -3.61662510e-03 -5.21697528e+01] [-1.64943555e-02 -3.44948326e-05 9.99863958e-01 -5.10788123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.748623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.42, Y:-52.18, Z:-5.11 [[ 9.75253559e-01 2.20501522e-01 1.61113159e-02 2.47424735e+02] [-2.20471787e-01 9.75386630e-01 -3.62114479e-03 -5.21767290e+01] [-1.65132300e-02 -2.05562574e-05 9.99863647e-01 -5.10825360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.45, Y:-52.18, Z:-5.11 [[ 9.75505779e-01 2.19411949e-01 1.57121271e-02 2.47453923e+02] [-2.19383521e-01 9.75632306e-01 -3.53184790e-03 -5.21829418e+01] [-1.61041884e-02 -1.64372773e-06 9.99870319e-01 -5.10933322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:247.48, Y:-52.19, Z:-5.11 [[ 9.75614549e-01 2.18950713e-01 1.53895049e-02 2.47483091e+02] [-2.18923378e-01 9.75735920e-01 -3.45964261e-03 -5.21895227e+01] [-1.57735840e-02 6.15525111e-06 9.99875589e-01 -5.11025598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.838623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.51, Y:-52.20, Z:-5.11 [[ 9.75925730e-01 2.17586198e-01 1.50071833e-02 2.47511812e+02] [-2.17560050e-01 9.76041109e-01 -3.37325039e-03 -5.21965430e+01] [-1.53816005e-02 2.70783028e-05 9.99881696e-01 -5.11174396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:247.54, Y:-52.20, Z:-5.10 [[ 9.76148145e-01 2.16620868e-01 1.44982435e-02 2.47541751e+02] [-2.16596358e-01 9.76255806e-01 -3.25885308e-03 -5.22033577e+01] [-1.48599299e-02 4.08566622e-05 9.99889584e-01 -5.10467898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.57, Y:-52.21, Z:-5.11 [[ 9.76365507e-01 2.15610311e-01 1.49194454e-02 2.47571404e+02] [-2.15584237e-01 9.76479488e-01 -3.35352905e-03 -5.22110980e+01] [-1.52915878e-02 5.78728328e-05 9.99883075e-01 -5.11282289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.60, Y:-52.22, Z:-5.11 [[ 9.76730664e-01 2.13913803e-01 1.54302887e-02 2.47601150e+02] [-2.13885702e-01 9.76852536e-01 -3.46835421e-03 -5.22182913e+01] [-1.58150455e-02 8.73297903e-05 9.99874931e-01 -5.11312119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:-52.23, Z:-5.11 [[ 9.76895386e-01 2.13135219e-01 1.57728822e-02 2.47631779e+02] [-2.13105756e-01 9.77022706e-01 -3.54528563e-03 -5.22255893e+01] [-1.61660893e-02 1.02081186e-04 9.99869315e-01 -5.11394647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.66, Y:-52.23, Z:-5.11 [[ 9.77339678e-01 2.11082017e-01 1.58598559e-02 2.47660739e+02] [-2.11051952e-01 9.77468344e-01 -3.56513172e-03 -5.22336086e+01] [-1.62550423e-02 1.37091132e-04 9.99867869e-01 -5.11489360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.018623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:247.69, Y:-52.24, Z:-5.11 [[ 9.77445658e-01 2.10587083e-01 1.59080650e-02 2.47691963e+02] [-2.10556761e-01 9.77575091e-01 -3.57653219e-03 -5.22410136e+01] [-1.63044995e-02 1.46315233e-04 9.99867062e-01 -5.10832351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.72, Y:-52.25, Z:-5.12 [[ 9.77440740e-01 2.10587665e-01 1.61998680e-02 2.47722897e+02] [-2.10556171e-01 9.77574965e-01 -3.64505804e-03 -5.22490362e+01] [-1.66041896e-02 1.51846058e-04 9.99862129e-01 -5.11580613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.75, Y:-52.26, Z:-5.12 [[ 9.77378417e-01 2.10895546e-01 1.59529967e-02 2.47752812e+02] [-2.10864989e-01 9.77508592e-01 -3.59300417e-03 -5.22553590e+01] [-1.63519399e-02 1.47796262e-04 9.99866287e-01 -5.11681694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:247.79, Y:-52.26, Z:-5.12 [[ 9.77208769e-01 2.11726038e-01 1.53331669e-02 2.47785452e+02] [-2.11697919e-01 9.77329048e-01 -3.45290177e-03 -5.22624198e+01] [-1.57166186e-02 1.28206359e-04 9.99876478e-01 -5.11810217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.138623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.82, Y:-52.27, Z:-5.12 [[ 9.77018131e-01 2.12632896e-01 1.49272655e-02 2.47816146e+02] [-2.12606305e-01 9.77132150e-01 -3.36462938e-03 -5.22688756e+01] [-1.53013420e-02 1.13673136e-04 9.99882921e-01 -5.11842566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.85, Y:-52.27, Z:-5.12 [[ 9.76717968e-01 2.14041349e-01 1.44330165e-02 2.47846809e+02] [-2.14016600e-01 9.76824597e-01 -3.25615036e-03 -5.22749907e+01] [-1.47954763e-02 9.14354565e-05 9.99890537e-01 -5.11996563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:-52.28, Z:-5.12 [[ 9.76604948e-01 2.14550067e-01 1.45273511e-02 2.47876915e+02] [-2.14525044e-01 9.76712988e-01 -3.27779164e-03 -5.22825661e+01] [-1.48923029e-02 8.46269201e-05 9.99889100e-01 -5.12100292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.91, Y:-52.29, Z:-5.12 [[ 9.76565644e-01 2.14753888e-01 1.41531344e-02 2.47906802e+02] [-2.14730153e-01 9.76668194e-01 -3.19376632e-03 -5.22897409e+01] [-1.45087900e-02 7.98177460e-05 9.99894739e-01 -5.12159990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.258623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.94, Y:-52.30, Z:-5.12 [[ 9.76568368e-01 2.14766083e-01 1.37750838e-02 2.47936219e+02] [-2.14743598e-01 9.76665513e-01 -3.10862544e-03 -5.22962323e+01] [-1.41212766e-02 7.76742047e-05 9.99900287e-01 -5.12210918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.97, Y:-52.30, Z:-5.12 [[ 9.76713063e-01 2.14158164e-01 1.29566299e-02 2.47965980e+02] [-2.14138215e-01 9.76798994e-01 -2.92414821e-03 -5.23025610e+01] [-1.32822533e-02 8.15441500e-05 9.99911784e-01 -5.12384922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.318623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.00, Y:-52.31, Z:-5.12 [[ 9.76727304e-01 2.14102666e-01 1.27992989e-02 2.47995784e+02] [-2.14083194e-01 9.76811160e-01 -2.88864057e-03 -5.23090856e+01] [-1.31209636e-02 8.12993383e-05 9.99913913e-01 -5.12492024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.348623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:-52.32, Z:-5.13 [[ 9.76740796e-01 2.14028850e-01 1.30026578e-02 2.48024643e+02] [-2.14008747e-01 9.76827336e-01 -2.93460771e-03 -5.23155538e+01] [-1.33294423e-02 8.36685690e-05 9.99911156e-01 -5.12503195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.05, Y:-52.32, Z:-5.12 [[ 9.76557817e-01 2.14784764e-01 1.42244560e-02 2.48053041e+02] [-2.14760787e-01 9.76661404e-01 -3.21021723e-03 -5.23227442e+01] [-1.45819829e-02 8.01073600e-05 9.99893674e-01 -5.12483245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.408623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:248.08, Y:-52.33, Z:-5.12 [[ 9.76349771e-01 2.15714656e-01 1.44330219e-02 2.48083544e+02] [-2.15690081e-01 9.76456442e-01 -3.25671046e-03 -5.23292726e+01] [-1.47957374e-02 6.66288518e-05 9.99890535e-01 -5.11536662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:-52.34, Z:-5.12 [[ 9.75706679e-01 2.18519861e-01 1.56699220e-02 2.48112755e+02] [-2.18491249e-01 9.75832501e-01 -3.53614572e-03 -5.23361249e+01] [-1.60639372e-02 2.65001662e-05 9.99870966e-01 -5.12448668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:-52.34, Z:-5.12 [[ 9.75417365e-01 2.19825490e-01 1.54181381e-02 2.48141602e+02] [-2.19797935e-01 9.75539212e-01 -3.48046667e-03 -5.23413383e+01] [-1.58060936e-02 6.03270551e-06 9.99875076e-01 -5.12455106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.498623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:-52.35, Z:-5.13 [[ 9.74807929e-01 2.22538412e-01 1.50385247e-02 2.48170198e+02] [-2.22512522e-01 9.74923922e-01 -3.39468214e-03 -5.23454462e+01] [-1.54168647e-02 -3.70969886e-05 9.99881152e-01 -5.12610864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.528623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:-52.35, Z:-5.13 [[ 9.74580377e-01 2.23547653e-01 1.48167508e-02 2.48199559e+02] [-2.23522645e-01 9.74693000e-01 -3.34405754e-03 -5.23516005e+01] [-1.51893395e-02 -5.28264782e-05 9.99884634e-01 -5.12673415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.23, Y:-52.36, Z:-5.13 [[ 9.74336603e-01 2.24643067e-01 1.42715473e-02 2.48227768e+02] [-2.24619989e-01 9.74441116e-01 -3.22069013e-03 -5.23571889e+01] [-1.46302882e-02 -6.76385274e-05 9.99892969e-01 -5.12769950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.26, Y:-52.36, Z:-5.13 [[ 9.74395218e-01 2.24390069e-01 1.42497926e-02 2.48255615e+02] [-2.24367039e-01 9.74499406e-01 -3.21546731e-03 -5.23627933e+01] [-1.46079333e-02 -6.40477847e-05 9.99893296e-01 -5.12806964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.29, Y:-52.37, Z:-5.13 [[ 9.74729463e-01 2.22943320e-01 1.40978538e-02 2.48285459e+02] [-2.22920639e-01 9.74831408e-01 -3.18031058e-03 -5.23676314e+01] [-1.44520597e-02 -4.27601461e-05 9.99895563e-01 -5.12842558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.648623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.31, Y:-52.37, Z:-5.13 [[ 9.75007525e-01 2.21731081e-01 1.39876561e-02 2.48314427e+02] [-2.21708627e-01 9.75107854e-01 -3.15557267e-03 -5.23724945e+01] [-1.43391619e-02 -2.44769381e-05 9.99897189e-01 -5.12922527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:-52.38, Z:-5.13 [[ 9.75265993e-01 2.20600068e-01 1.38510952e-02 2.48342867e+02] [-2.20577940e-01 9.75364347e-01 -3.12448266e-03 -5.23776414e+01] [-1.41991255e-02 -8.04436318e-06 9.99899187e-01 -5.13006671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.708623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.37, Y:-52.38, Z:-5.13 [[ 9.75919111e-01 2.17703468e-01 1.36780643e-02 2.48371670e+02] [-2.17681613e-01 9.76014958e-01 -3.08487946e-03 -5.23838463e+01] [-1.40215843e-02 3.31297176e-05 9.99901692e-01 -5.13064474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.40, Y:-52.39, Z:-5.13 [[ 9.76507770e-01 2.15017064e-01 1.41505044e-02 2.48401919e+02] [-2.14993398e-01 9.76610289e-01 -3.19096356e-03 -5.23891660e+01] [-1.45056398e-02 7.37356993e-05 9.99894785e-01 -5.13050155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.768623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.43, Y:-52.40, Z:-5.13 [[ 9.76706805e-01 2.14102189e-01 1.42852794e-02 2.48431312e+02] [-2.14077971e-01 9.76811264e-01 -3.22141307e-03 -5.23951183e+01] [-1.46437334e-02 8.82124483e-05 9.99892771e-01 -5.13072158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.46, Y:-52.40, Z:-5.13 [[ 9.76791945e-01 2.13705778e-01 1.43991745e-02 2.48459717e+02] [-2.13681130e-01 9.76898066e-01 -3.24698752e-03 -5.24012132e+01] [-1.47604257e-02 9.47993718e-05 9.99891054e-01 -5.13097749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.828623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.49, Y:-52.41, Z:-5.13 [[ 9.76790620e-01 2.13747896e-01 1.38535835e-02 2.48489175e+02] [-2.13725091e-01 9.76888852e-01 -3.12354540e-03 -5.24062638e+01] [-1.42010626e-02 9.01914427e-05 9.99899156e-01 -5.13117372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:-52.41, Z:-5.13 [[ 9.76785422e-01 2.13781254e-01 1.37045392e-02 2.48517583e+02] [-2.13758944e-01 9.76881553e-01 -3.08966604e-03 -5.24114440e+01] [-1.40482242e-02 8.84729222e-05 9.99901315e-01 -5.13190221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.55, Y:-52.42, Z:-5.13 [[ 9.76792548e-01 2.13748688e-01 1.37046508e-02 2.48546212e+02] [-2.13726382e-01 9.76888679e-01 -3.08917072e-03 -5.24178085e+01] [-1.40482244e-02 8.84335009e-05 9.99901315e-01 -5.13246810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.58, Y:-52.42, Z:-5.13 [[ 9.76855636e-01 2.13495654e-01 1.31404575e-02 2.48575084e+02] [-2.13475130e-01 9.76944010e-01 -2.96156814e-03 -5.24227112e+01] [-1.34697732e-02 8.78636567e-05 9.99909275e-01 -5.13299262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.948623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.60, Y:-52.43, Z:-5.13 [[ 9.76929961e-01 2.13167514e-01 1.29406963e-02 2.48602210e+02] [-2.13147585e-01 9.77015661e-01 -2.91623197e-03 -5.24283480e+01] [-1.32649089e-02 9.06762176e-05 9.99912013e-01 -5.13383693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.63, Y:-52.43, Z:-5.13 [[ 9.77091145e-01 2.12437963e-01 1.27674036e-02 2.48629604e+02] [-2.12418511e-01 9.77174551e-01 -2.87641760e-03 -5.24336389e+01] [-1.30870421e-02 9.84893083e-05 9.99914356e-01 -5.13385942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.66, Y:-52.44, Z:-5.13 [[ 9.77153598e-01 2.12146829e-01 1.28284120e-02 2.48658929e+02] [-2.12127179e-01 9.77237797e-01 -2.88920814e-03 -5.24395353e+01] [-1.31493454e-02 1.01945291e-04 9.99913538e-01 -5.13444753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.69, Y:-52.45, Z:-5.14 [[ 9.77240914e-01 2.11752307e-01 1.26947085e-02 2.48688683e+02] [-2.11733037e-01 9.77323360e-01 -2.85863575e-03 -5.24453595e+01] [-1.30121579e-02 1.05686624e-04 9.99915333e-01 -5.13506236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:-52.45, Z:-5.14 [[ 9.77330597e-01 2.11298759e-01 1.33318683e-02 2.48717450e+02] [-2.11277463e-01 9.77421516e-01 -3.00218532e-03 -5.24512246e+01] [-1.36652129e-02 1.17404277e-04 9.99906620e-01 -5.13532149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.098623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:-52.46, Z:-5.13 [[ 9.77389589e-01 2.10957489e-01 1.43711418e-02 2.48745537e+02] [-2.10932707e-01 9.77495228e-01 -3.23616908e-03 -5.24560659e+01] [-1.47304166e-02 1.31654128e-04 9.99891493e-01 -5.13496252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.77, Y:-52.46, Z:-5.14 [[ 9.77400518e-01 2.10888187e-01 1.46424319e-02 2.48773910e+02] [-2.10862463e-01 9.77510181e-01 -3.29652742e-03 -5.24616365e+01] [-1.50083250e-02 1.34488346e-04 9.99887360e-01 -5.13552154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.158623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.80, Y:-52.47, Z:-5.14 [[ 9.77646136e-01 2.09751065e-01 1.45782005e-02 2.48802559e+02] [-2.09725452e-01 9.77754810e-01 -3.28126709e-03 -5.24676435e+01] [-1.49421549e-02 1.50498403e-04 9.99888348e-01 -5.13599289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.188623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:248.83, Y:-52.47, Z:-5.13 [[ 9.77867279e-01 2.08758181e-01 1.39859277e-02 2.48831380e+02] [-2.08734510e-01 9.77967278e-01 -3.14763022e-03 -5.24736476e+01] [-1.43348732e-02 1.58618847e-04 9.99897238e-01 -5.13306048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.218623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.86, Y:-52.48, Z:-5.14 [[ 9.78064190e-01 2.07848109e-01 1.37696912e-02 2.48859071e+02] [-2.07825078e-01 9.78161099e-01 -3.09869401e-03 -5.24805836e+01] [-1.41130339e-02 1.69034498e-04 9.99900392e-01 -5.13749215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.248623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.89, Y:-52.49, Z:-5.14 [[ 9.78517426e-01 2.05722698e-01 1.34840233e-02 2.48887819e+02] [-2.05700418e-01 9.78610307e-01 -3.03386298e-03 -5.24885344e+01] [-1.38197387e-02 1.95018560e-04 9.99904484e-01 -5.13833427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:-52.50, Z:-5.14 [[ 9.78901806e-01 2.03901342e-01 1.32474902e-02 2.48916172e+02] [-2.03879675e-01 9.78991418e-01 -2.98032373e-03 -5.24967559e+01] [-1.35768712e-02 2.16550276e-04 9.99907807e-01 -5.13846714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:248.94, Y:-52.50, Z:-5.14 [[ 9.79041538e-01 2.03224933e-01 1.33151327e-02 2.48944165e+02] [-2.03202985e-01 9.79132052e-01 -2.99527752e-03 -5.25036376e+01] [-1.36459883e-02 2.26826396e-04 9.99906863e-01 -5.13857022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.338623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.97, Y:-52.51, Z:-5.14 [[ 9.79139466e-01 2.02757652e-01 1.32378784e-02 2.48973380e+02] [-2.02735923e-01 9.79228922e-01 -2.97734662e-03 -5.25109098e+01] [-1.35665932e-02 2.31444097e-04 9.99907943e-01 -5.13853643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.00, Y:-52.52, Z:-5.14 [[ 9.79229393e-01 2.02266574e-01 1.40722623e-02 2.49003156e+02] [-2.02241977e-01 9.79330470e-01 -3.16439320e-03 -5.25190520e+01] [-1.44214462e-02 2.52664677e-04 9.99895974e-01 -5.13886874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.398623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.03, Y:-52.53, Z:-5.14 [[ 9.79246782e-01 2.02181176e-01 1.40894170e-02 2.49032756e+02] [-2.02156504e-01 9.79348103e-01 -3.16867048e-03 -5.25270026e+01] [-1.44390893e-02 2.54643092e-04 9.99895718e-01 -5.13943414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.06, Y:-52.54, Z:-5.14 [[ 9.79438057e-01 2.01286205e-01 1.35998534e-02 2.49062330e+02] [-2.01263130e-01 9.79532438e-01 -3.05866950e-03 -5.25373270e+01] [-1.39371655e-02 2.58628258e-04 9.99902840e-01 -5.14018160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.458623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.09, Y:-52.55, Z:-5.14 [[ 9.79507849e-01 2.00932933e-01 1.37959940e-02 2.49092140e+02] [-2.00909149e-01 9.79604964e-01 -3.10312884e-03 -5.25462396e+01] [-1.41381450e-02 2.67797650e-04 9.99900016e-01 -5.14075489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.12, Y:-52.56, Z:-5.14 [[ 9.79657210e-01 2.00222764e-01 1.35128127e-02 2.49122713e+02] [-2.00199885e-01 9.79750362e-01 -3.03893557e-03 -5.25565064e+01] [-1.38476472e-02 2.71851603e-04 9.99904080e-01 -5.14123391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.15, Y:-52.56, Z:-5.14 [[ 9.79648194e-01 2.00307419e-01 1.28977993e-02 2.49152507e+02] [-2.00286547e-01 9.79733061e-01 -2.90328352e-03 -5.25645934e+01] [-1.32179496e-02 2.60940782e-04 9.99912605e-01 -5.14190060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.18, Y:-52.58, Z:-5.14 [[ 9.79403548e-01 2.01562035e-01 1.18926680e-02 2.49180516e+02] [-2.01544361e-01 9.79475724e-01 -2.67886088e-03 -5.25752865e+01] [-1.21885363e-02 2.26785678e-04 9.99925691e-01 -5.14322003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.578623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.21, Y:-52.58, Z:-5.14 [[ 9.79247497e-01 2.02344739e-01 1.14431768e-02 2.49210500e+02] [-2.02328433e-01 9.79314333e-01 -2.57721837e-03 -5.25845721e+01] [-1.17279537e-02 2.08454601e-04 9.99931203e-01 -5.14382097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.24, Y:-52.59, Z:-5.14 [[ 9.78783855e-01 2.04605899e-01 1.08899771e-02 2.49240045e+02] [-2.04591268e-01 9.78844419e-01 -2.45287088e-03 -5.25946748e+01] [-1.11614652e-02 1.72836195e-04 9.99937694e-01 -5.14457583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.638623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:249.27, Y:-52.60, Z:-5.14 [[ 9.78448733e-01 2.06205041e-01 1.08424538e-02 2.49270775e+02] [-2.06190647e-01 9.78508793e-01 -2.44121953e-03 -5.26036966e+01] [-1.11128282e-02 1.52995589e-04 9.99938239e-01 -5.14476005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.30, Y:-52.61, Z:-5.14 [[ 9.77772975e-01 2.09352827e-01 1.14630989e-02 2.49300292e+02] [-2.09336927e-01 9.77840160e-01 -2.58329341e-03 -5.26139693e+01] [-1.17498982e-02 1.26224597e-04 9.99930960e-01 -5.14435256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.33, Y:-52.62, Z:-5.15 [[ 9.77457813e-01 2.10797330e-01 1.18621235e-02 2.49330475e+02] [-2.10780372e-01 9.77529781e-01 -2.67625274e-03 -5.26219018e+01] [-1.21597259e-02 1.15621338e-04 9.99926061e-01 -5.14518667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.36, Y:-52.63, Z:-5.15 [[ 9.77072216e-01 2.12584355e-01 1.17378211e-02 2.49362686e+02] [-2.12567892e-01 9.77142714e-01 -2.64722335e-03 -5.26306919e+01] [-1.20322846e-02 9.14444950e-05 9.99927605e-01 -5.14547559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.39, Y:-52.64, Z:-5.15 [[ 9.76335209e-01 2.15908294e-01 1.23761352e-02 2.49392115e+02] [-2.15890220e-01 9.76413645e-01 -2.79418287e-03 -5.26413866e+01] [-1.26875145e-02 5.61725715e-05 9.99919509e-01 -5.14594988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.42, Y:-52.65, Z:-5.15 [[ 9.75733252e-01 2.18598937e-01 1.26145009e-02 2.49421411e+02] [-2.18580351e-01 9.75814790e-01 -2.85057588e-03 -5.26512848e+01] [-1.29325494e-02 2.41196410e-05 9.99916371e-01 -5.14614792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.45, Y:-52.66, Z:-5.15 [[ 9.75395559e-01 2.20094519e-01 1.27242616e-02 2.49453369e+02] [-2.20075727e-01 9.75478551e-01 -2.87602192e-03 -5.26601345e+01] [-1.30452410e-02 4.95787106e-06 9.99914907e-01 -5.14687060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.848623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:-52.67, Z:-5.15 [[ 9.75111339e-01 2.21375781e-01 1.22735476e-02 2.49485182e+02] [-2.21358370e-01 9.75188578e-01 -2.77647272e-03 -5.26693057e+01] [-1.25836673e-02 -9.48246078e-06 9.99920822e-01 -5.14725777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.878623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.52, Y:-52.68, Z:-5.15 [[ 9.74702315e-01 2.23225485e-01 1.12151548e-02 2.49515527e+02] [-2.23211045e-01 9.74766835e-01 -2.53913801e-03 -5.26796695e+01] [-1.14989613e-02 -2.84427386e-05 9.99933884e-01 -5.14828510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.908623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:249.55, Y:-52.69, Z:-5.15 [[ 9.74616774e-01 2.23624841e-01 1.06805756e-02 2.49546877e+02] [-2.23611749e-01 9.74675294e-01 -2.42000540e-03 -5.26880556e+01] [-1.09512665e-02 -2.97243162e-05 9.99940033e-01 -5.14878215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.57, Y:-52.70, Z:-5.15 [[ 9.74536680e-01 2.23929436e-01 1.15701323e-02 2.49574901e+02] [-2.23914046e-01 9.74605359e-01 -2.62552246e-03 -5.26962021e+01] [-1.18642447e-02 -3.20472024e-05 9.99929617e-01 -5.14937853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.968623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.61, Y:-52.70, Z:-5.15 [[ 9.74482488e-01 2.24151876e-01 1.18244628e-02 2.49606890e+02] [-2.24135838e-01 9.74554224e-01 -2.68160865e-03 -5.27046454e+01] [-1.21246678e-02 -3.71052159e-05 9.99926493e-01 -5.14934081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.998623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:249.64, Y:-52.72, Z:-5.15 [[ 9.74490946e-01 2.24065200e-01 1.27350793e-02 2.49638792e+02] [-2.24046552e-01 9.74574156e-01 -2.89097591e-03 -5.27152061e+01] [-1.30590462e-02 -3.60207551e-05 9.99914726e-01 -5.15005451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.028623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:249.67, Y:-52.72, Z:-5.15 [[ 9.74549873e-01 2.23808969e-01 1.27314403e-02 2.49669248e+02] [-2.23790276e-01 9.74633031e-01 -2.89277456e-03 -5.27241366e+01] [-1.30559111e-02 -3.00194414e-05 9.99914768e-01 -5.15055116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:249.70, Y:-52.74, Z:-5.15 [[ 9.74728576e-01 2.23079729e-01 1.18168232e-02 2.49700014e+02] [-2.23063548e-01 9.74800202e-01 -2.68684552e-03 -5.27356806e+01] [-1.21184224e-02 -1.69574029e-05 9.99926569e-01 -5.15158254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.088623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.73, Y:-52.74, Z:-5.15 [[ 9.74759001e-01 2.22958131e-01 1.16000477e-02 2.49731873e+02] [-2.22942504e-01 9.74828021e-01 -2.63977848e-03 -5.27448098e+01] [-1.18966116e-02 -1.29958405e-05 9.99929233e-01 -5.15231991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:249.76, Y:-52.75, Z:-5.15 [[ 9.74736324e-01 2.23066991e-01 1.14112662e-02 2.49764188e+02] [-2.23051851e-01 9.74803117e-01 -2.59898160e-03 -5.27536027e+01] [-1.17034849e-02 -1.19822824e-05 9.99931512e-01 -5.15312521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:249.80, Y:-52.76, Z:-5.15 [[ 9.74485173e-01 2.24193279e-01 1.07712797e-02 2.49795382e+02] [-2.24179837e-01 9.74544700e-01 -2.45511323e-03 -5.27634257e+01] [-1.10475135e-02 -2.22322961e-05 9.99938974e-01 -5.15364321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.83, Y:-52.77, Z:-5.15 [[ 9.74290486e-01 2.25045856e-01 1.06024294e-02 2.49826809e+02] [-2.25032861e-01 9.74348173e-01 -2.41863106e-03 -5.27723430e+01] [-1.08747606e-02 -2.94457825e-05 9.99940868e-01 -5.15408187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.208623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:249.86, Y:-52.78, Z:-5.15 [[ 9.73905896e-01 2.26708828e-01 1.05077953e-02 2.49858299e+02] [-2.26696138e-01 9.73962579e-01 -2.39909333e-03 -5.27833843e+01] [-1.07780950e-02 -4.55854802e-05 9.99941914e-01 -5.15450992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.89, Y:-52.79, Z:-5.15 [[ 9.73638344e-01 2.27828817e-01 1.10637126e-02 2.49889243e+02] [-2.27814793e-01 9.73701200e-01 -2.52850970e-03 -5.27921970e+01] [-1.13488176e-02 -5.86234053e-05 9.99935598e-01 -5.15437758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.268623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:249.92, Y:-52.80, Z:-5.15 [[ 9.73156883e-01 2.29846030e-01 1.16825994e-02 2.49920493e+02] [-2.29830512e-01 9.73227001e-01 -2.67217850e-03 -5.28017205e+01] [-1.19840108e-02 -8.45689040e-05 9.99928186e-01 -5.15347347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:249.95, Y:-52.81, Z:-5.15 [[ 9.72910513e-01 2.30851189e-01 1.23637257e-02 2.49951910e+02] [-2.30833854e-01 9.72989064e-01 -2.83079068e-03 -5.28096244e+01] [-1.26832613e-02 -9.98604324e-05 9.99919559e-01 -5.15439985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.328623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:249.98, Y:-52.82, Z:-5.15 [[ 9.72681481e-01 2.31792021e-01 1.27747638e-02 2.49982732e+02] [-2.31773562e-01 9.72765360e-01 -2.92743317e-03 -5.28174847e+01] [-1.31054033e-02 -1.13392470e-04 9.99914114e-01 -5.15452266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35862385300004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:250.01, Y:-52.83, Z:-5.16 [[ 9.72463975e-01 2.32714941e-01 1.25528123e-02 2.50013811e+02] [-2.32697166e-01 9.72544982e-01 -2.87881019e-03 -5.28272575e+01] [-1.28781168e-02 -1.21464648e-04 9.99917066e-01 -5.15597042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.388623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.05, Y:-52.84, Z:-5.16 [[ 9.72460531e-01 2.32752898e-01 1.21080164e-02 2.50045714e+02] [-2.32736336e-01 9.72535899e-01 -2.77899057e-03 -5.28359770e+01] [-1.24222988e-02 -1.15516736e-04 9.99922834e-01 -5.15662394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:250.08, Y:-52.85, Z:-5.16 [[ 9.72583238e-01 2.32272952e-01 1.14507786e-02 2.50077420e+02] [-2.32258082e-01 9.72650639e-01 -2.63017448e-03 -5.28459179e+01] [-1.17485256e-02 -1.01472275e-04 9.99930979e-01 -5.15763054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.448623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:250.11, Y:-52.85, Z:-5.16 [[ 9.72623298e-01 2.32122926e-01 1.10845684e-02 2.50108028e+02] [-2.32108957e-01 9.72686454e-01 -2.54828203e-03 -5.28547675e+01] [-1.13733242e-02 -9.43091410e-05 9.99935317e-01 -5.15828871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47862385300004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:250.14, Y:-52.86, Z:-5.16 [[ 9.72744850e-01 2.31644468e-01 1.04065829e-02 2.50139587e+02] [-2.31632110e-01 9.72800511e-01 -2.39408460e-03 -5.28643911e+01] [-1.06781056e-02 -8.16652831e-05 9.99942984e-01 -5.15854261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.508623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:250.17, Y:-52.87, Z:-5.16 [[ 9.72745100e-01 2.31653099e-01 1.01887874e-02 2.50170095e+02] [-2.31641232e-01 9.72798456e-01 -2.34602523e-03 -5.28726458e+01] [-1.04551007e-02 -7.80587270e-05 9.99945341e-01 -5.15950388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53862385300005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:250.20, Y:-52.88, Z:-5.16 [[ 9.72674565e-01 2.31950715e-01 1.01516542e-02 2.50201775e+02] [-2.31938932e-01 9.72727536e-01 -2.33926523e-03 -5.28812979e+01] [-1.04173878e-02 -7.92200406e-05 9.99945734e-01 -5.16011474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.568623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:250.23, Y:-52.89, Z:-5.16 [[ 9.72580446e-01 2.32330447e-01 1.04803997e-02 2.50233456e+02] [-2.32317889e-01 9.72636909e-01 -2.41707034e-03 -5.28904702e+01] [-1.07551826e-02 -8.39889857e-05 9.99942158e-01 -5.16037846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.598623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:250.26, Y:-52.90, Z:-5.16 [[ 9.72414882e-01 2.33001636e-01 1.09332235e-02 2.50264521e+02] [-2.32987984e-01 9.72476338e-01 -2.52398514e-03 -5.28995818e+01] [-1.12203939e-02 -9.29489991e-05 9.99937045e-01 -5.16027209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.628623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:250.30, Y:-52.91, Z:-5.16 [[ 9.72348023e-01 2.33256804e-01 1.14273789e-02 2.50296927e+02] [-2.33241881e-01 9.72415165e-01 -2.64028648e-03 -5.29079612e+01] [-1.17280213e-02 -9.80660075e-05 9.99931220e-01 -5.16067770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.658623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:250.33, Y:-52.92, Z:-5.16 [[ 9.72315492e-01 2.33382785e-01 1.16215683e-02 2.50329102e+02] [-2.33367331e-01 9.72384937e-01 -2.68751611e-03 -5.29161576e+01] [-1.19278579e-02 -9.89808159e-05 9.99928856e-01 -5.16093488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.688623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.36, Y:-52.92, Z:-5.16 [[ 9.72509182e-01 2.32551753e-01 1.20653843e-02 2.50360016e+02] [-2.32535001e-01 9.72584019e-01 -2.79275779e-03 -5.29249888e+01] [-1.23840607e-02 -8.96415566e-05 9.99923311e-01 -5.16144649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.718623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:250.39, Y:-52.93, Z:-5.16 [[ 9.72895686e-01 2.30919768e-01 1.22492463e-02 2.50391576e+02] [-2.30902343e-01 9.72972793e-01 -2.83754809e-03 -5.29342354e+01] [-1.25734294e-02 -6.77413921e-05 9.99920949e-01 -5.16184009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.748623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:250.42, Y:-52.94, Z:-5.16 [[ 9.73100261e-01 2.30064862e-01 1.20847336e-02 2.50423431e+02] [-2.30047808e-01 9.73175296e-01 -2.80177019e-03 -5.29434363e+01] [-1.24051530e-02 -5.36631599e-05 9.99923052e-01 -5.16241205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.778623853 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:250.46, Y:-52.95, Z:-5.16 [[ 9.73081438e-01 2.30144500e-01 1.20840474e-02 2.50456020e+02] [-2.30127415e-01 9.73156466e-01 -2.80472595e-03 -5.29511420e+01] [-1.24051611e-02 -5.16438311e-05 9.99923052e-01 -5.16305888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80862385300003 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:250.49, Y:-52.96, Z:-5.16 [[ 9.73327445e-01 2.29093784e-01 1.22361376e-02 2.50486433e+02] [-2.29076178e-01 9.73404354e-01 -2.84046403e-03 -5.29599362e+01] [-1.25614423e-02 -3.83060388e-05 9.99921101e-01 -5.16324512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.838623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:250.52, Y:-52.97, Z:-5.16 [[ 9.74003080e-01 2.26163031e-01 1.29723985e-02 2.50517433e+02] [-2.26142947e-01 9.74089464e-01 -3.01398067e-03 -5.29700511e+01] [-1.33179277e-02 2.01003948e-06 9.99911312e-01 -5.16305269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86862385300003 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:250.55, Y:-52.98, Z:-5.15 [[ 9.74254611e-01 2.25094169e-01 1.26715169e-02 2.50549096e+02] [-2.25074888e-01 9.74337013e-01 -2.94619621e-03 -5.29782413e+01] [-1.30094995e-02 1.83049893e-05 9.99915373e-01 -5.15490064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.898623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:250.58, Y:-52.99, Z:-5.16 [[ 9.74845797e-01 2.22487873e-01 1.32219247e-02 2.50579868e+02] [-2.22466603e-01 9.74935456e-01 -3.07690674e-03 -5.29910469e+01] [-1.35750976e-02 5.80729388e-05 9.99907852e-01 -5.16407959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:250.61, Y:-53.00, Z:-5.16 [[ 9.75113140e-01 2.21319377e-01 1.31185920e-02 2.50610473e+02] [-2.21298298e-01 9.75201378e-01 -3.05547619e-03 -5.30011020e+01] [-1.34695051e-02 7.63128933e-05 9.99909279e-01 -5.16440151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.958623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:250.64, Y:-53.01, Z:-5.17 [[ 9.75659462e-01 2.18908025e-01 1.29572870e-02 2.50641709e+02] [-2.18887217e-01 9.75745492e-01 -3.02018965e-03 -5.30134888e+01] [-1.33041581e-02 1.10492111e-04 9.99911490e-01 -5.16512076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98862385300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:250.67, Y:-53.02, Z:-5.17 [[ 9.75838848e-01 2.18129350e-01 1.25749173e-02 2.50673343e+02] [-2.18109658e-01 9.75919860e-01 -2.93335715e-03 -5.30233897e+01] [-1.29119628e-02 1.19772949e-04 9.99916630e-01 -5.16577620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.70, Y:-53.03, Z:-5.17 [[ 9.76020370e-01 2.17348498e-01 1.19944802e-02 2.50703934e+02] [-2.17330496e-01 9.76094060e-01 -2.80017490e-03 -5.30328832e+01] [-1.23163547e-02 1.26261399e-04 9.99924143e-01 -5.16640588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04862385300004 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:250.73, Y:-53.05, Z:-5.16 [[ 9.76172887e-01 2.16693247e-01 1.14250205e-02 2.50734912e+02] [-2.16676848e-01 9.76239735e-01 -2.66902769e-03 -5.30451157e+01] [-1.17319193e-02 1.29895030e-04 9.99931170e-01 -5.16022116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.078623853 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:250.77, Y:-53.06, Z:-5.17 [[ 9.76100856e-01 2.17000213e-01 1.17484437e-02 2.50766023e+02] [-2.16982867e-01 9.76171548e-01 -2.74683708e-03 -5.30557809e+01] [-1.20645607e-02 1.31979026e-04 9.99927212e-01 -5.16706289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10862385300004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:250.80, Y:-53.07, Z:-5.17 [[ 9.75768520e-01 2.18446600e-01 1.25251221e-02 2.50797229e+02] [-2.18426968e-01 9.75848896e-01 -2.93118437e-03 -5.30680282e+01] [-1.28629339e-02 1.24332976e-04 9.99917261e-01 -5.16794354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.138623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:250.83, Y:-53.08, Z:-5.17 [[ 9.75500447e-01 2.19618571e-01 1.29059040e-02 2.50828688e+02] [-2.19597794e-01 9.75585809e-01 -3.02299652e-03 -5.30780143e+01] [-1.32547229e-02 1.14826413e-04 9.99912146e-01 -5.16850561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:250.86, Y:-53.09, Z:-5.17 [[ 9.75139724e-01 2.21205736e-01 1.30591740e-02 2.50860115e+02] [-2.21184570e-01 9.75227160e-01 -3.06154927e-03 -5.30878018e+01] [-1.34128934e-02 9.69505225e-05 9.99910038e-01 -5.16875618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.198623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:250.89, Y:-53.10, Z:-5.17 [[ 9.74208623e-01 2.25321248e-01 1.21611963e-02 2.50891154e+02] [-2.25303185e-01 9.74284524e-01 -2.85325602e-03 -5.30992846e+01] [-1.24913646e-02 3.97103527e-05 9.99921979e-01 -5.16916383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:250.92, Y:-53.11, Z:-5.17 [[ 9.73033698e-01 2.30338943e-01 1.22226584e-02 2.50921734e+02] [-2.30321055e-01 9.73110462e-01 -2.87067181e-03 -5.31106733e+01] [-1.25552243e-02 -2.18751713e-05 9.99921180e-01 -5.16998467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.258623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:250.95, Y:-53.12, Z:-5.16 [[ 9.72309777e-01 2.33400904e-01 1.17352308e-02 2.50954259e+02] [-2.33384627e-01 9.72380591e-01 -2.75704396e-03 -5.31192276e+01] [-1.20546072e-02 -5.81216763e-05 9.99927339e-01 -5.16202262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28862385300005 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:250.98, Y:-53.13, Z:-5.17 [[ 9.71601034e-01 2.36298537e-01 1.24270333e-02 2.50984990e+02] [-2.36280485e-01 9.71680499e-01 -2.92240087e-03 -5.31279894e+01] [-1.27656650e-02 -9.68577521e-05 9.99918511e-01 -5.17054729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.318623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:251.02, Y:-53.14, Z:-5.17 [[ 9.70909499e-01 2.39117903e-01 1.25448261e-02 2.51017012e+02] [-2.39099712e-01 9.70990531e-01 -2.95245649e-03 -5.31360675e+01] [-1.28868925e-02 -1.32896244e-04 9.99916952e-01 -5.17092797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.348623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:251.05, Y:-53.14, Z:-5.17 [[ 9.69473618e-01 2.44860191e-01 1.28214865e-02 2.51048763e+02] [-2.44841657e-01 9.69558375e-01 -3.02007092e-03 -5.31443070e+01] [-1.31706747e-02 -2.11354919e-04 9.99913241e-01 -5.17180985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.378623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:251.08, Y:-53.15, Z:-5.17 [[ 9.68116638e-01 2.50183883e-01 1.25777663e-02 2.51079977e+02] [-2.50166462e-01 9.68198300e-01 -2.96521741e-03 -5.31517064e+01] [-1.29196215e-02 -2.75858970e-04 9.99916500e-01 -5.17227658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.408623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:251.11, Y:-53.16, Z:-5.17 [[ 9.67472366e-01 2.52673382e-01 1.23848213e-02 2.51111296e+02] [-2.52656666e-01 9.67551586e-01 -2.92205167e-03 -5.31586244e+01] [-1.27212782e-02 -3.02103429e-04 9.99919036e-01 -5.17312443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.438623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:251.14, Y:-53.17, Z:-5.17 [[ 9.66856536e-01 2.55037277e-01 1.20177735e-02 2.51143397e+02] [-2.55021695e-01 9.66931168e-01 -2.83743290e-03 -5.31656176e+01] [-1.23440109e-02 -3.21402415e-04 9.99923758e-01 -5.17386178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.468623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:251.18, Y:-53.17, Z:-5.17 [[ 9.65826844e-01 2.58899605e-01 1.22270839e-02 2.51176026e+02] [-2.58883753e-01 9.65904164e-01 -2.88929806e-03 -5.31716922e+01] [-1.25582294e-02 -3.74831748e-04 9.99921072e-01 -5.17464572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.498623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:251.21, Y:-53.18, Z:-5.18 [[ 9.65357907e-01 2.60621037e-01 1.26801874e-02 2.51207827e+02] [-2.60604101e-01 9.65441095e-01 -2.99910831e-03 -5.31780112e+01] [-1.30236047e-02 -4.09295911e-04 9.99915105e-01 -5.17504268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.528623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:251.24, Y:-53.18, Z:-5.18 [[ 9.64796809e-01 2.62667829e-01 1.31426223e-02 2.51240141e+02] [-2.62649792e-01 9.64886215e-01 -3.11096795e-03 -5.31832055e+01] [-1.34982863e-02 -4.50455051e-04 9.99908793e-01 -5.17582941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:251.27, Y:-53.19, Z:-5.18 [[ 9.64661883e-01 2.63172020e-01 1.29591434e-02 2.51272285e+02] [-2.63154495e-01 9.64748820e-01 -3.07004368e-03 -5.31896170e+01] [-1.33102679e-02 -4.48702718e-04 9.99911314e-01 -5.17598776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.588623853 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:251.30, Y:-53.20, Z:-5.18 [[ 9.64651682e-01 2.63232428e-01 1.24827986e-02 2.51304379e+02] [-2.63216143e-01 9.64732348e-01 -2.95951278e-03 -5.31961019e+01] [-1.28215994e-02 -4.30775128e-04 9.99917707e-01 -5.17706803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:251.34, Y:-53.20, Z:-5.18 [[ 9.65073981e-01 2.61725887e-01 1.14792076e-02 2.51335844e+02] [-2.61711984e-01 9.65142176e-01 -2.72364202e-03 -5.32009736e+01] [-1.17919150e-02 -3.75730156e-04 9.99930402e-01 -5.17833292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.648623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:251.37, Y:-53.21, Z:-5.18 [[ 9.65837501e-01 2.58907317e-01 1.11769007e-02 2.51368208e+02] [-2.58893927e-01 9.65902113e-01 -2.65377032e-03 -5.32057414e+01] [-1.14828726e-02 -3.30520817e-04 9.99934015e-01 -5.17903179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67862385300003 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:251.40, Y:-53.21, Z:-5.18 [[ 9.66330597e-01 2.57055125e-01 1.13065991e-02 2.51399436e+02] [-2.57041268e-01 9.66396692e-01 -2.68696236e-03 -5.32115186e+01] [-1.16173575e-02 -3.09768645e-04 9.99932468e-01 -5.17953352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.708623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:251.43, Y:-53.22, Z:-5.18 [[ 9.66787710e-01 2.55327105e-01 1.13838934e-02 2.51431791e+02] [-2.55312914e-01 9.66854687e-01 -2.70736999e-03 -5.32181720e+01] [-1.16978357e-02 -2.89002980e-04 9.99931536e-01 -5.17977050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73862385300004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:251.46, Y:-53.22, Z:-5.18 [[ 9.67240599e-01 2.53610731e-01 1.12792320e-02 2.51464215e+02] [-2.53596658e-01 9.67306326e-01 -2.68467223e-03 -5.32248950e+01] [-1.15913342e-02 -2.63651574e-04 9.99932783e-01 -5.18036796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.768623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:251.50, Y:-53.23, Z:-5.18 [[ 9.68078535e-01 2.50403280e-01 1.10520442e-02 2.51495250e+02] [-2.50389534e-01 9.68141596e-01 -2.63279245e-03 -5.32307117e+01] [-1.13592036e-02 -2.18566341e-04 9.99935458e-01 -5.18097223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79862385300004 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:251.53, Y:-53.24, Z:-5.18 [[ 9.68490092e-01 2.48798874e-01 1.12277150e-02 2.51526889e+02] [-2.48784551e-01 9.68555151e-01 -2.67711214e-03 -5.32374279e+01] [-1.15407237e-02 -2.00525463e-04 9.99933384e-01 -5.18167114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.828623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:251.56, Y:-53.24, Z:-5.18 [[ 9.69315112e-01 2.45542333e-01 1.17122403e-02 2.51559832e+02] [-2.45526483e-01 9.69385855e-01 -2.79485201e-03 -5.32435773e+01] [-1.20399346e-02 -1.66572872e-04 9.99927503e-01 -5.18199720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85862385300004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:251.59, Y:-53.25, Z:-5.18 [[ 9.69751126e-01 2.43783205e-01 1.23491592e-02 2.51590979e+02] [-2.43765406e-01 9.69829741e-01 -2.94964892e-03 -5.32502130e+01] [-1.26956567e-02 -1.49872449e-04 9.99919396e-01 -5.18313473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.888623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:251.62, Y:-53.26, Z:-5.18 [[ 9.70545693e-01 2.40588193e-01 1.25848421e-02 2.51622688e+02] [-2.40569408e-01 9.70627276e-01 -3.00832893e-03 -5.32579253e+01] [-1.29389595e-02 -1.07807343e-04 9.99916282e-01 -5.18341244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91862385300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:251.65, Y:-53.27, Z:-5.18 [[ 9.70880503e-01 2.39252033e-01 1.22276018e-02 2.51653563e+02] [-2.39234163e-01 9.70957495e-01 -2.92540941e-03 -5.32654907e+01] [-1.25723918e-02 -8.50371264e-05 9.99920961e-01 -5.18461346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.948623853 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:251.69, Y:-53.27, Z:-5.18 [[ 9.71351230e-01 2.37429556e-01 1.01977594e-02 2.51685920e+02] [-2.37417013e-01 9.71404758e-01 -2.44102900e-03 -5.32726928e+01] [-1.04857244e-02 -5.00250498e-05 9.99945022e-01 -5.17646864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97862385300004 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:251.72, Y:-53.28, Z:-5.19 [[ 9.71619602e-01 2.36309405e-01 1.06402355e-02 2.51717997e+02] [-2.36295657e-01 9.71677860e-01 -2.54924638e-03 -5.32808620e+01] [-1.09412922e-02 -3.73436788e-05 9.99940142e-01 -5.18596777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.008623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:251.75, Y:-53.29, Z:-5.19 [[ 9.71969957e-01 2.34848620e-01 1.09785786e-02 2.51749369e+02] [-2.34833863e-01 9.72031957e-01 -2.63275673e-03 -5.32885179e+01] [-1.12898286e-02 -1.91815862e-05 9.99936268e-01 -5.18638250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03862385300005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:251.78, Y:-53.30, Z:-5.19 [[ 9.72129136e-01 2.34196820e-01 1.08070782e-02 2.51780829e+02] [-2.34182460e-01 9.72189204e-01 -2.59350857e-03 -5.32966602e+01] [-1.11139162e-02 -9.60290043e-06 9.99938238e-01 -5.18711880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.068623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:251.81, Y:-53.31, Z:-5.19 [[ 9.72256622e-01 2.33675673e-01 1.06179736e-02 2.51811227e+02] [-2.33661750e-01 9.72314599e-01 -2.55081892e-03 -5.33052095e+01] [-1.09200751e-02 -9.63707037e-07 9.99940374e-01 -5.18771433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.098623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:251.84, Y:-53.31, Z:-5.19 [[ 9.72397580e-01 2.33088206e-01 1.06223258e-02 2.51841617e+02] [-2.33074228e-01 9.72455597e-01 -2.55269040e-03 -5.33140876e+01] [-1.09247422e-02 6.43957620e-06 9.99940323e-01 -5.18722897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.128623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:251.87, Y:-53.32, Z:-5.19 [[ 9.72304819e-01 2.33460506e-01 1.09330777e-02 2.51873989e+02] [-2.33445698e-01 9.72366285e-01 -2.62941216e-03 -5.33226025e+01] [-1.12448200e-02 4.31015971e-06 9.99936775e-01 -5.18766012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.158623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:251.90, Y:-53.33, Z:-5.19 [[ 9.72065598e-01 2.34424329e-01 1.15631723e-02 2.51904854e+02] [-2.34407802e-01 9.72134370e-01 -2.78356715e-03 -5.33302486e+01] [-1.18934931e-02 -4.68793930e-06 9.99929270e-01 -5.18773728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.188623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:251.94, Y:-53.34, Z:-5.19 [[ 9.71867560e-01 2.35233032e-01 1.17841878e-02 2.51936952e+02] [-2.35215900e-01 9.71939000e-01 -2.83894441e-03 -5.33379443e+01] [-1.21213252e-02 -1.27503623e-05 9.99926534e-01 -5.18877791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.218623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:251.97, Y:-53.35, Z:-5.19 [[ 9.71613268e-01 2.36270913e-01 1.19880734e-02 2.51968407e+02] [-2.36253226e-01 9.71687221e-01 -2.89099689e-03 -5.33458605e+01] [-1.23317162e-02 -2.32900907e-05 9.99923961e-01 -5.18880012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.248623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:252.00, Y:-53.35, Z:-5.19 [[ 9.70960788e-01 2.38919828e-01 1.23476353e-02 2.52000637e+02] [-2.38901265e-01 9.71039295e-01 -2.97876436e-03 -5.33542054e+01] [-1.27017249e-02 -5.76022891e-05 9.99919328e-01 -5.18861308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.278623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:252.03, Y:-53.36, Z:-5.19 [[ 9.70181052e-01 2.42060916e-01 1.24595408e-02 2.52032071e+02] [-2.42042240e-01 9.70261049e-01 -3.00842665e-03 -5.33610918e+01] [-1.28172296e-02 -9.70166260e-05 9.99917851e-01 -5.18904409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30862385300003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:252.06, Y:-53.37, Z:-5.19 [[ 9.69737039e-01 2.43844545e-01 1.22438859e-02 2.52064489e+02] [-2.43826623e-01 9.69814325e-01 -2.95861211e-03 -5.33685976e+01] [-1.25957374e-02 -1.16309601e-04 9.99920664e-01 -5.18988243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.338623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:252.10, Y:-53.38, Z:-5.19 [[ 9.69297131e-01 2.45584542e-01 1.23006255e-02 2.52095358e+02] [-2.45566563e-01 9.69375167e-01 -2.97478183e-03 -5.33756379e+01] [-1.26544813e-02 -1.37174834e-04 9.99919919e-01 -5.19034993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36862385300003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:252.13, Y:-53.38, Z:-5.19 [[ 9.68581009e-01 2.48382863e-01 1.25212492e-02 2.52128021e+02] [-2.48364438e-01 9.68661924e-01 -3.03037056e-03 -5.33824843e+01] [-1.28815494e-02 -1.74673642e-04 9.99917014e-01 -5.19035306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.398623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:252.16, Y:-53.39, Z:-5.19 [[ 9.68329020e-01 2.49349139e-01 1.28029553e-02 2.52160574e+02] [-2.49329928e-01 9.68413636e-01 -3.10103380e-03 -5.33896387e+01] [-1.31717966e-02 -1.89338884e-04 9.99913230e-01 -5.19048629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42862385300003 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:252.19, Y:-53.40, Z:-5.19 [[ 9.68074611e-01 2.50275782e-01 1.39133456e-02 2.52192760e+02] [-2.50253146e-01 9.68174564e-01 -3.37291163e-03 -5.33962206e+01] [-1.43147054e-02 -2.16628400e-04 9.99897516e-01 -5.19082070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.458623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:252.22, Y:-53.40, Z:-5.19 [[ 9.67998528e-01 2.50551973e-01 1.42323216e-02 2.52223528e+02] [-2.50528273e-01 9.68103124e-01 -3.45326055e-03 -5.34034318e+01] [-1.46435763e-02 -2.22847840e-04 9.99892752e-01 -5.19100828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48862385300004 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:252.25, Y:-53.41, Z:-5.19 [[ 9.67990956e-01 2.50566991e-01 1.44807628e-02 2.52254723e+02] [-2.50542417e-01 9.68099237e-01 -3.51633656e-03 -5.34100281e+01] [-1.48998933e-02 -2.24263336e-04 9.99888965e-01 -5.19171729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.518623853 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:252.29, Y:-53.42, Z:-5.19 [[ 9.67912374e-01 2.50877534e-01 1.43561426e-02 2.52287468e+02] [-2.50853377e-01 9.68018808e-01 -3.48866680e-03 -5.34156006e+01] [-1.47722442e-02 -2.24563092e-04 9.99890859e-01 -5.19289321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54862385300004 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:252.32, Y:-53.42, Z:-5.19 [[ 9.67858637e-01 2.51107035e-01 1.39612467e-02 2.52320076e+02] [-2.51084175e-01 9.67959301e-01 -3.39527590e-03 -5.34228855e+01] [-1.43664962e-02 -2.19301003e-04 9.99896773e-01 -5.19349276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.578623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:252.35, Y:-53.43, Z:-5.19 [[ 9.67839137e-01 2.51203228e-01 1.35773073e-02 2.52352173e+02] [-2.51181582e-01 9.67934344e-01 -3.30448197e-03 -5.34300234e+01] [-1.39720386e-02 -2.12162543e-04 9.99902364e-01 -5.19427166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:252.38, Y:-53.43, Z:-5.20 [[ 9.67849100e-01 2.51206075e-01 1.27916661e-02 2.52384003e+02] [-2.51186830e-01 9.67933608e-01 -3.11567981e-03 -5.34342819e+01] [-1.31641612e-02 -1.97590172e-04 9.99913329e-01 -5.19544386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.638623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:252.42, Y:-53.44, Z:-5.20 [[ 9.67944942e-01 2.50878176e-01 1.19469524e-02 2.52417119e+02] [-2.50861340e-01 9.68018651e-01 -2.91188149e-03 -5.34376450e+01] [-1.22954003e-02 -1.78487541e-04 9.99924393e-01 -5.19686487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.45, Y:-53.44, Z:-5.20 [[ 9.67964915e-01 2.50799729e-01 1.19757994e-02 2.52449376e+02] [-2.50782778e-01 9.68038979e-01 -2.92113979e-03 -5.34436347e+01] [-1.23256617e-02 -1.75763424e-04 9.99924021e-01 -5.19698521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.698623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.48, Y:-53.45, Z:-5.20 [[ 9.67943739e-01 2.50881477e-01 1.19750590e-02 2.52481875e+02] [-2.50864495e-01 9.68017796e-01 -2.92417147e-03 -5.34517059e+01] [-1.23256907e-02 -1.73683670e-04 9.99924021e-01 -5.19763206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:252.51, Y:-53.46, Z:-5.20 [[ 9.67944199e-01 2.50856925e-01 1.24431208e-02 2.52513020e+02] [-2.50838581e-01 9.68024158e-01 -3.03900997e-03 -5.34576895e+01] [-1.28075982e-02 -1.79622686e-04 9.99917963e-01 -5.19856122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.758623853 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:252.55, Y:-53.46, Z:-5.19 [[ 9.68004157e-01 2.50620386e-01 1.25448876e-02 2.52546608e+02] [-2.50601690e-01 9.68085426e-01 -3.06625661e-03 -5.34618109e+01] [-1.29129893e-02 -1.75620887e-04 9.99916608e-01 -5.18905532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78862385300005 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:252.58, Y:-53.47, Z:-5.20 [[ 9.68067174e-01 2.50326777e-01 1.35074566e-02 2.52579066e+02] [-2.50305033e-01 9.68161387e-01 -3.30441558e-03 -5.34692778e+01] [-1.39045816e-02 -1.82088103e-04 9.99903310e-01 -5.19886871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.818623853 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:252.61, Y:-53.47, Z:-5.20 [[ 9.68401027e-01 2.49038681e-01 1.33860741e-02 2.52611418e+02] [-2.49017166e-01 9.68493526e-01 -3.27734084e-03 -5.34739321e+01] [-1.37805107e-02 -1.59582006e-04 9.99905032e-01 -5.19983000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.848623853 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:252.64, Y:-53.48, Z:-5.20 [[ 9.68544756e-01 2.48511936e-01 1.27621738e-02 2.52642884e+02] [-2.48492303e-01 9.68628823e-01 -3.12701567e-03 -5.34802899e+01] [-1.31389102e-02 -1.42647341e-04 9.99913671e-01 -5.20064857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.878623853 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:252.68, Y:-53.49, Z:-5.19 [[ 9.68724704e-01 2.47835297e-01 1.22520909e-02 2.52675530e+02] [-2.47817122e-01 9.68802173e-01 -3.00403779e-03 -5.34861261e+01] [-1.26143588e-02 -1.26192278e-04 9.99920428e-01 -5.19411512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.908623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:252.71, Y:-53.49, Z:-5.20 [[ 9.69006195e-01 2.46685598e-01 1.31609480e-02 2.52706861e+02] [-2.46664475e-01 9.69095559e-01 -3.23024513e-03 -5.34916122e+01] [-1.35510712e-02 -1.16210799e-04 9.99908173e-01 -5.20108303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.938623853 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:252.74, Y:-53.50, Z:-5.20 [[ 9.69114805e-01 2.46246655e-01 1.33821021e-02 2.52737906e+02] [-2.46224755e-01 9.69207188e-01 -3.28593128e-03 -5.34977024e+01] [-1.37791792e-02 -1.10560163e-04 9.99905056e-01 -5.20149346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.968623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:252.77, Y:-53.50, Z:-5.20 [[ 9.69349736e-01 2.45292234e-01 1.38855746e-02 2.52770208e+02] [-2.45268511e-01 9.69449179e-01 -3.41276677e-03 -5.35027631e+01] [-1.42984841e-02 -9.75296534e-05 9.99897767e-01 -5.20166843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.998623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:252.80, Y:-53.51, Z:-5.20 [[ 9.69344953e-01 2.45326855e-01 1.36050029e-02 2.52802068e+02] [-2.45304076e-01 9.69440418e-01 -3.34445718e-03 -5.35088669e+01] [-1.40097249e-02 -9.54299733e-05 9.99901854e-01 -5.20223085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.028623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:252.83, Y:-53.51, Z:-5.20 [[ 9.69370529e-01 2.45232050e-01 1.34914710e-02 2.52834292e+02] [-2.45209607e-01 9.69464405e-01 -3.31896220e-03 -5.35149027e+01] [-1.38934169e-02 -9.09341720e-05 9.99903478e-01 -5.20334318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.87, Y:-53.52, Z:-5.20 [[ 9.69361559e-01 2.45311499e-01 1.26663762e-02 2.52866654e+02] [-2.45291687e-01 9.69444305e-01 -3.11882390e-03 -5.35192648e+01] [-1.30444296e-02 -8.36887806e-05 9.99914914e-01 -5.20461902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.088623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:252.90, Y:-53.52, Z:-5.21 [[ 9.69225078e-01 2.45891209e-01 1.18431783e-02 2.52898983e+02] [-2.45873920e-01 9.69297429e-01 -2.91706643e-03 -5.35233117e+01] [-1.21968433e-02 -8.46347378e-05 9.99925612e-01 -5.20550305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:252.93, Y:-53.53, Z:-5.21 [[ 9.69140941e-01 2.46235969e-01 1.15621708e-02 2.52931950e+02] [-2.46219491e-01 9.69209905e-01 -2.84987717e-03 -5.35292660e+01] [-1.19079127e-02 -8.48991750e-05 9.99929095e-01 -5.20571475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.148623853 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:252.96, Y:-53.53, Z:-5.21 [[ 9.69010210e-01 2.46744760e-01 1.16720785e-02 2.52963171e+02] [-2.46727974e-01 9.69080500e-01 -2.87943292e-03 -5.35347394e+01] [-1.20216686e-02 -8.96283802e-05 9.99927733e-01 -5.20627507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:253.00, Y:-53.54, Z:-5.21 [[ 9.69085006e-01 2.46452273e-01 1.16416876e-02 2.52995319e+02] [-2.46435527e-01 9.69154926e-01 -2.87417864e-03 -5.35375884e+01] [-1.19909467e-02 -8.36019922e-05 9.99928103e-01 -5.20697321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.208623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:253.03, Y:-53.54, Z:-5.21 [[ 9.69292249e-01 2.45652227e-01 1.12924873e-02 2.53026720e+02] [-2.45636382e-01 9.69358024e-01 -2.79086089e-03 -5.35430332e+01] [-1.16320444e-02 -6.86859162e-05 9.99932343e-01 -5.20763017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23862385300004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:253.06, Y:-53.55, Z:-5.21 [[ 9.70005498e-01 2.42786081e-01 1.20105584e-02 2.53056688e+02] [-2.42767929e-01 9.70079851e-01 -2.96898829e-03 -5.35469715e+01] [-1.23720298e-02 -3.58434392e-05 9.99923463e-01 -5.20788858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.268623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:253.09, Y:-53.55, Z:-5.21 [[ 9.70533313e-01 2.40642741e-01 1.24963618e-02 2.53086400e+02] [-2.40622911e-01 9.70613760e-01 -3.08924368e-03 -5.35531203e+01] [-1.28725448e-02 -8.69705548e-06 9.99917145e-01 -5.20839139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:253.12, Y:-53.56, Z:-5.21 [[ 9.71689175e-01 2.35885307e-01 1.33517155e-02 2.53117371e+02] [-2.35862218e-01 9.71780901e-01 -3.30081228e-03 -5.35596404e+01] [-1.37535552e-02 5.81983276e-05 9.99905414e-01 -5.20809917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.328623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.15, Y:-53.57, Z:-5.21 [[ 9.72223433e-01 2.33650348e-01 1.37517473e-02 2.53148046e+02] [-2.33625636e-01 9.72320681e-01 -3.39938574e-03 -5.35669921e+01] [-1.41653759e-02 9.22017719e-05 9.99899662e-01 -5.20864499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35862385300004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:253.18, Y:-53.57, Z:-5.21 [[ 9.73330052e-01 2.29019232e-01 1.33716287e-02 2.53178989e+02] [-2.28995402e-01 9.73421885e-01 -3.30742566e-03 -5.35746141e+01] [-1.37737001e-02 1.57175293e-04 9.99905126e-01 -5.20956030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.388623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:253.21, Y:-53.58, Z:-5.21 [[ 9.73792140e-01 2.27059412e-01 1.31488497e-02 2.53210338e+02] [-2.27036161e-01 9.73880891e-01 -3.25453448e-03 -5.35828923e+01] [-1.35443861e-02 1.83975741e-04 9.99908254e-01 -5.21035325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:253.24, Y:-53.59, Z:-5.21 [[ 9.74628866e-01 2.23464315e-01 1.27386475e-02 2.53241291e+02] [-2.23442159e-01 9.74712084e-01 -3.15501686e-03 -5.35912392e+01] [-1.31215473e-02 2.28619618e-04 9.99913883e-01 -5.21126727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.448623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:253.27, Y:-53.60, Z:-5.21 [[ 9.74935943e-01 2.22126489e-01 1.26384168e-02 2.53272156e+02] [-2.22104537e-01 9.75017826e-01 -3.13253948e-03 -5.35994759e+01] [-1.30185017e-02 2.46975615e-04 9.99915225e-01 -5.21198212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47862385300004 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:253.30, Y:-53.61, Z:-5.20 [[ 9.75189556e-01 2.21052842e-01 1.18730785e-02 2.53303021e+02] [-2.21033362e-01 9.75261801e-01 -2.94500844e-03 -5.36067330e+01] [-1.22303624e-02 2.47594997e-04 9.99925176e-01 -5.20269572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.508623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:253.33, Y:-53.62, Z:-5.21 [[ 9.75460764e-01 2.19790573e-01 1.29769654e-02 2.53333341e+02] [-2.19767170e-01 9.75547036e-01 -3.22033911e-03 -5.36178122e+01] [-1.33674403e-02 2.89403482e-04 9.99910610e-01 -5.21283333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53862385300005 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:253.37, Y:-53.63, Z:-5.21 [[ 9.75480559e-01 2.19697681e-01 1.30616818e-02 2.53365278e+02] [-2.19673936e-01 9.75567959e-01 -3.24337869e-03 -5.36271078e+01] [-1.34551210e-02 2.94541808e-04 9.99909432e-01 -5.21300013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.568623853 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:253.40, Y:-53.64, Z:-5.21 [[ 9.75305722e-01 2.20486448e-01 1.28247501e-02 2.53395551e+02] [-2.20463591e-01 9.75389998e-01 -3.18716067e-03 -5.36365849e+01] [-1.32118587e-02 2.81065585e-04 9.99912680e-01 -5.21351534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.598623853 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:253.43, Y:-53.64, Z:-5.21 [[ 9.75027157e-01 2.21708115e-01 1.29443168e-02 2.53426744e+02] [-2.21684902e-01 9.75113039e-01 -3.21949265e-03 -5.36449740e+01] [-1.33359597e-02 2.69533171e-04 9.99911036e-01 -5.21392607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.628623853 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:253.46, Y:-53.65, Z:-5.21 [[ 9.74642305e-01 2.23408593e-01 1.26877175e-02 2.53456824e+02] [-2.23386398e-01 9.74724854e-01 -3.15855714e-03 -5.36527883e+01] [-1.30726824e-02 2.44199899e-04 9.99914519e-01 -5.21463783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.658623853 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:253.49, Y:-53.66, Z:-5.22 [[ 9.73517373e-01 2.28299635e-01 1.19666689e-02 2.53485653e+02] [-2.28280254e-01 9.73590904e-01 -2.97954949e-03 -5.36606942e+01] [-1.23308700e-02 1.68888981e-04 9.99923958e-01 -5.21513649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.688623853 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:253.51, Y:-53.67, Z:-5.22 [[ 9.72894912e-01 2.30971854e-01 1.12912748e-02 2.53514796e+02] [-2.30954779e-01 9.72960424e-01 -2.81135200e-03 -5.36680446e+01] [-1.16353067e-02 1.27376170e-04 9.99932299e-01 -5.21580054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.718623853 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:253.54, Y:-53.67, Z:-5.22 [[ 9.71564229e-01 2.36520111e-01 1.10084525e-02 2.53542142e+02] [-2.36504238e-01 9.71626592e-01 -2.74077592e-03 -5.36749644e+01] [-1.13443538e-02 5.92941809e-05 9.99935649e-01 -5.21595286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.748623853 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:253.57, Y:-53.68, Z:-5.22 [[ 9.70878427e-01 2.39309584e-01 1.12251284e-02 2.53572938e+02] [-2.39293290e-01 9.70943316e-01 -2.79271990e-03 -5.36824062e+01] [-1.15672880e-02 2.52936004e-05 9.99933096e-01 -5.21646960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.778623853 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:253.60, Y:-53.69, Z:-5.22 [[ 9.69765942e-01 2.43741384e-01 1.20065079e-02 2.53602235e+02] [-2.43723038e-01 9.69840264e-01 -2.99060650e-03 -5.36891460e+01] [-1.23733294e-02 -2.60742543e-05 9.99923447e-01 -5.21606418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80862385300003 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:253.63, Y:-53.70, Z:-5.22 [[ 9.69326179e-01 2.45463268e-01 1.24315245e-02 2.53630252e+02] [-2.45443735e-01 9.69405891e-01 -3.09700102e-03 -5.36958981e+01] [-1.28113930e-02 -4.92356352e-05 9.99917930e-01 -5.21620795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.838623853 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:253.66, Y:-53.70, Z:-5.22 [[ 9.68898227e-01 2.47137333e-01 1.26239507e-02 2.53660495e+02] [-2.47117346e-01 9.68980461e-01 -3.14392272e-03 -5.37033993e+01] [-1.30093423e-02 -7.34560428e-05 9.99915372e-01 -5.21600231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86862385300003 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:253.69, Y:-53.71, Z:-5.22 [[ 9.68224068e-01 2.49726668e-01 1.33695558e-02 2.53692242e+02] [-2.49704503e-01 9.68316363e-01 -3.32913234e-03 -5.37108333e+01] [-1.37773327e-02 -1.15092225e-04 9.99905081e-01 -5.21669538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.898623853 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:253.72, Y:-53.72, Z:-5.22 [[ 9.67965907e-01 2.50712441e-01 1.36115862e-02 2.53723561e+02] [-2.50689529e-01 9.68061597e-01 -3.39189294e-03 -5.37183575e+01] [-1.40272437e-02 -1.29045419e-04 9.99901605e-01 -5.21712410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92862385300003 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:253.75, Y:-53.73, Z:-5.22 [[ 9.67808843e-01 2.51316858e-01 1.36338132e-02 2.53754235e+02] [-2.51293882e-01 9.67904860e-01 -3.40088494e-03 -5.37254100e+01] [-1.40509338e-02 -1.34687335e-04 9.99901272e-01 -5.21765755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.958623853 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:253.78, Y:-53.73, Z:-5.22 [[ 9.67821912e-01 2.51276868e-01 1.34418335e-02 2.53783430e+02] [-2.51254523e-01 9.67915243e-01 -3.35362081e-03 -5.37323102e+01] [-1.38532429e-02 -1.31613770e-04 9.99904031e-01 -5.21854797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98862385300004 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:253.81, Y:-53.74, Z:-5.22 [[ 9.67935195e-01 2.50855267e-01 1.31564978e-02 2.53814185e+02] [-2.50833819e-01 9.68024597e-01 -3.28252173e-03 -5.37391857e+01] [-1.35592513e-02 -1.22826273e-04 9.99908062e-01 -5.21942529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.018623853 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:253.84, Y:-53.75, Z:-5.22 [[ 9.68023582e-01 2.50528086e-01 1.28850017e-02 2.53844378e+02] [-2.50507481e-01 9.68109325e-01 -3.21509285e-03 -5.37465850e+01] [-1.32795614e-02 -1.15503629e-04 9.99911816e-01 -5.22036943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04862385300004 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:253.87, Y:-53.75, Z:-5.22 [[ 9.68348837e-01 2.49285142e-01 1.25478359e-02 2.53874252e+02] [-2.49265496e-01 9.68430126e-01 -3.13106176e-03 -5.37531502e+01] [-1.29322295e-02 -9.57825282e-05 9.99916371e-01 -5.22075775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.078623853 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:253.90, Y:-53.76, Z:-5.22 [[ 9.68583398e-01 2.48374670e-01 1.24989738e-02 2.53904711e+02] [-2.48355089e-01 9.68664037e-01 -3.11981319e-03 -5.37593334e+01] [-1.28821890e-02 -8.23845005e-05 9.99917018e-01 -5.21766783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10862385300004 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:253.93, Y:-53.77, Z:-5.22 [[ 9.68767155e-01 2.47653699e-01 1.25636641e-02 2.53933833e+02] [-2.47633849e-01 9.68848616e-01 -3.13635857e-03 -5.37661535e+01] [-1.29490193e-02 -7.27873233e-05 9.99916155e-01 -5.22177526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.138623853 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:253.96, Y:-53.77, Z:-5.22 [[ 9.69187413e-01 2.45995952e-01 1.27181014e-02 2.53963684e+02] [-2.45975465e-01 9.69270854e-01 -3.17515075e-03 -5.37719965e+01] [-1.31083592e-02 -5.10247615e-05 9.99914080e-01 -5.22273354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16862385300004 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:253.99, Y:-53.78, Z:-5.22 [[ 9.69448536e-01 2.44975641e-01 1.25088649e-02 2.53992864e+02] [-2.44955738e-01 9.69529233e-01 -3.12291360e-03 -5.37792380e+01] [-1.28927480e-02 -3.66142183e-05 9.99916884e-01 -5.22319225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.198623853 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:254.02, Y:-53.79, Z:-5.22 [[ 9.70116445e-01 2.42355761e-01 1.17374684e-02 2.54021950e+02] [-2.42338046e-01 9.70187448e-01 -2.93024317e-03 -5.37870683e+01] [-1.20977058e-02 -1.75806313e-06 9.99926820e-01 -5.22403915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22862385300004 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:254.05, Y:-53.79, Z:-5.22 [[ 9.70450526e-01 2.41020769e-01 1.16088220e-02 2.54051951e+02] [-2.41003342e-01 9.70519958e-01 -2.89835651e-03 -5.37941974e+01] [-1.19651576e-02 1.49466884e-05 9.99928415e-01 -5.22480342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.258623853 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:254.08, Y:-53.80, Z:-5.23 [[ 9.70715147e-01 2.39954154e-01 1.15805155e-02 2.54082025e+02] [-2.39936736e-01 9.70784221e-01 -2.89128925e-03 -5.38011388e+01] [-1.19359586e-02 2.80271851e-05 9.99928764e-01 -5.22538017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28862385300005 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:254.11, Y:-53.81, Z:-5.23 [[ 9.71096556e-01 2.38415110e-01 1.13891909e-02 2.54110980e+02] [-2.38398155e-01 9.71163340e-01 -2.84361174e-03 -5.38075415e+01] [-1.17387247e-02 4.62594733e-05 9.99931098e-01 -5.22614786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.318623853 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:254.14, Y:-53.81, Z:-5.23 [[ 9.71201748e-01 2.37979176e-01 1.15358975e-02 2.54139244e+02] [-2.37961753e-01 9.71270256e-01 -2.88009573e-03 -5.38146401e+01] [-1.18898769e-02 5.20516224e-05 9.99929312e-01 -5.22686268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.348623853 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:254.17, Y:-53.82, Z:-5.23 [[ 9.71291144e-01 2.37602073e-01 1.17799928e-02 2.54167696e+02] [-2.37583881e-01 9.71362575e-01 -2.94070852e-03 -5.38209946e+01] [-1.21413626e-02 5.75477214e-05 9.99926289e-01 -5.22667641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.378623853 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:254.20, Y:-53.83, Z:-5.23 [[ 9.71233608e-01 2.37847846e-01 1.15620714e-02 2.54195959e+02] [-2.37830333e-01 9.71302424e-01 -2.88681679e-03 -5.38273747e+01] [-1.19168912e-02 5.39621908e-05 9.99928990e-01 -5.22683070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.408623853 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:254.22, Y:-53.83, Z:-5.23 [[ 9.70938831e-01 2.39024129e-01 1.20520256e-02 2.54224876e+02] [-2.39005197e-01 9.71013627e-01 -3.00860159e-03 -5.38333216e+01] [-1.24218095e-02 4.06713472e-05 9.99922846e-01 -5.22785942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.438623853 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:254.25, Y:-53.84, Z:-5.23 [[ 9.70794167e-01 2.39595019e-01 1.23657241e-02 2.54253623e+02] [-2.39575139e-01 9.70872919e-01 -3.08660155e-03 -5.38395275e+01] [-1.27450810e-02 3.39347126e-05 9.99918778e-01 -5.22791739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.468623853 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:254.28, Y:-53.85, Z:-5.23 [[ 9.70429680e-01 2.41083412e-01 1.20426101e-02 2.54280908e+02] [-2.41064673e-01 9.70504399e-01 -3.00591067e-03 -5.38452565e+01] [-1.24120813e-02 1.39770634e-05 9.99922967e-01 -5.22870769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.498623853 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:254.31, Y:-53.85, Z:-5.23 [[ 9.70303138e-01 2.41604341e-01 1.17967042e-02 2.54308908e+02] [-2.41586406e-01 9.70374846e-01 -2.94376904e-03 -5.38520206e+01] [-1.21584524e-02 6.42495498e-06 9.99926083e-01 -5.22945487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.528623853 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:254.34, Y:-53.86, Z:-5.23 [[ 9.70208645e-01 2.42011324e-01 1.12117698e-02 2.54336782e+02] [-2.41995157e-01 9.70273425e-01 -2.79731416e-03 -5.38579851e+01] [-1.15554640e-02 7.84388261e-07 9.99933233e-01 -5.23032290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55862385300003 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:254.36, Y:-53.86, Z:-5.23 [[ 9.70244800e-01 2.41881547e-01 1.08786658e-02 2.54364946e+02] [-2.41866324e-01 9.70305785e-01 -2.71371611e-03 -5.38643594e+01] [-1.12120303e-02 1.78603059e-06 9.99937143e-01 -5.23120283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.588623853 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:254.39, Y:-53.87, Z:-5.23 [[ 9.70252819e-01 2.41849372e-01 1.08788075e-02 2.54393424e+02] [-2.41834153e-01 9.70313806e-01 -2.71314819e-03 -5.38713722e+01] [-1.12120303e-02 1.57249173e-06 9.99937143e-01 -5.23176869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61862385300003 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:254.42, Y:-53.88, Z:-5.23 [[ 9.70413858e-01 2.41193183e-01 1.10812330e-02 2.54422162e+02] [-2.41177355e-01 9.70477124e-01 -2.76314698e-03 -5.38784867e+01] [-1.14205353e-02 8.85366559e-06 9.99934784e-01 -5.23255161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.648623853 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:254.45, Y:-53.88, Z:-5.23 [[ 9.70510347e-01 2.40802984e-01 1.11170749e-02 2.54450138e+02] [-2.40787030e-01 9.70574017e-01 -2.77190439e-03 -5.38849957e+01] [-1.14574269e-02 1.33144522e-05 9.99934361e-01 -5.22901699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67862385300003 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:254.48, Y:-53.89, Z:-5.23 [[ 9.70646552e-01 2.40193019e-01 1.23525438e-02 2.54478906e+02] [-2.40173282e-01 9.70725148e-01 -3.07919501e-03 -5.38934586e+01] [-1.27305261e-02 2.20590186e-05 9.99918963e-01 -5.23217346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.708623853 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:254.51, Y:-53.90, Z:-5.23 [[ 9.70700641e-01 2.39972930e-01 1.23797218e-02 2.54507893e+02] [-2.39953087e-01 9.70779580e-01 -3.08604933e-03 -5.38999859e+01] [-1.27585494e-02 2.50775965e-05 9.99918606e-01 -5.22504893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73862385300004 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:254.54, Y:-53.91, Z:-5.23 [[ 9.70674664e-01 2.40033605e-01 1.32122895e-02 2.54537697e+02] [-2.40011015e-01 9.70764579e-01 -3.29320222e-03 -5.39090373e+01] [-1.36165019e-02 2.55329345e-05 9.99907291e-01 -5.23301340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.768623853 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:254.57, Y:-53.92, Z:-5.23 [[ 9.70588578e-01 2.40420897e-01 1.24741687e-02 2.54567414e+02] [-2.40400787e-01 9.70668734e-01 -3.10959700e-03 -5.39161841e+01] [-1.28558977e-02 1.93393482e-05 9.99917359e-01 -5.23376758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79862385300004 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:254.60, Y:-53.92, Z:-5.23 [[ 9.70513047e-01 2.40745851e-01 1.20772853e-02 2.54597503e+02] [-2.40727025e-01 9.70588190e-01 -3.01072372e-03 -5.39235969e+01] [-1.24468897e-02 1.46176939e-05 9.99922534e-01 -5.23456263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.828623853 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:254.63, Y:-53.93, Z:-5.23 [[ 9.70262629e-01 2.41775494e-01 1.16207258e-02 2.54626665e+02] [-2.41758132e-01 9.70332217e-01 -2.89745481e-03 -5.39303432e+01] [-1.19764982e-02 1.88717213e-06 9.99928279e-01 -5.23497538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85862385300004 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:254.66, Y:-53.94, Z:-5.24 [[ 9.70201090e-01 2.42038565e-01 1.12773034e-02 2.54656180e+02] [-2.42022234e-01 9.70266630e-01 -2.81159856e-03 -5.39376114e+01] [-1.16225064e-02 -1.54217566e-06 9.99932456e-01 -5.23565375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.888623853 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:254.69, Y:-53.95, Z:-5.24 [[ 9.70193585e-01 2.42075804e-01 1.11226126e-02 2.54685205e+02] [-2.42059921e-01 9.70257340e-01 -2.77303186e-03 -5.39453763e+01] [-1.14630805e-02 -1.96101064e-06 9.99934297e-01 -5.23669268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91862385300004 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:254.71, Y:-53.95, Z:-5.23 [[ 9.70373214e-01 2.41361734e-01 1.09699412e-02 2.54714743e+02] [-2.41346238e-01 9.70435218e-01 -2.73496862e-03 -5.39534740e+01] [-1.13057341e-02 6.38624040e-06 9.99936088e-01 -5.22918102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.948623853 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:254.74, Y:-53.96, Z:-5.24 [[ 9.70547263e-01 2.40629873e-01 1.16307430e-02 2.54744197e+02] [-2.40612404e-01 9.70616950e-01 -2.89953534e-03 -5.39625927e+01] [-1.19867111e-02 1.56350718e-05 9.99928157e-01 -5.23716748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97862385300004 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:254.77, Y:-53.97, Z:-5.24 [[ 9.71089524e-01 2.38438012e-01 1.15087642e-02 2.54774202e+02] [-2.38420761e-01 9.71157718e-01 -2.86841327e-03 -5.39729210e+01] [-1.18607639e-02 4.15577517e-05 9.99929658e-01 -5.23782469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.008623853 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:254.80, Y:-53.98, Z:-5.24 [[ 9.71424011e-01 2.37066817e-01 1.16066599e-02 2.54803006e+02] [-2.37049142e-01 9.71493346e-01 -2.89550703e-03 -5.39817189e+01] [-1.19622215e-02 6.14162833e-05 9.99928448e-01 -5.23838929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03862385300005 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:254.83, Y:-53.99, Z:-5.24 [[ 9.71670006e-01 2.36045793e-01 1.18229872e-02 2.54833042e+02] [-2.36027365e-01 9.71741930e-01 -2.95040086e-03 -5.39905021e+01] [-1.21853221e-02 7.62674947e-05 9.99925753e-01 -5.23929539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.068623853 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:254.86, Y:-54.00, Z:-5.24 [[ 9.72003830e-01 2.34647658e-01 1.22078518e-02 2.54861272e+02] [-2.34627900e-01 9.72080484e-01 -3.04654783e-03 -5.40009121e+01] [-1.25818798e-02 9.69535204e-05 9.99920840e-01 -5.23905751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.098623853 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:254.89, Y:-54.01, Z:-5.24 [[ 9.72155626e-01 2.34013239e-01 1.22980536e-02 2.54890915e+02] [-2.33993125e-01 9.72233404e-01 -3.06998433e-03 -5.40105438e+01] [-1.26749955e-02 1.06842548e-04 9.99919663e-01 -5.23991422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.128623853 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:254.92, Y:-54.02, Z:-5.24 [[ 9.72376985e-01 2.33095614e-01 1.22243410e-02 2.54920727e+02] [-2.33075676e-01 9.72453814e-01 -3.05091962e-03 -5.40222343e+01] [-1.25987631e-02 1.17447461e-04 9.99920626e-01 -5.24008478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.158623853 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:254.95, Y:-54.03, Z:-5.24 [[ 9.72438530e-01 2.32842136e-01 1.21591712e-02 2.54951609e+02] [-2.32822365e-01 9.72514537e-01 -3.03666197e-03 -5.40320670e+01] [-1.25320337e-02 1.22040089e-04 9.99921464e-01 -5.24067983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.188623853 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:254.98, Y:-54.04, Z:-5.24 [[ 9.72498461e-01 2.32579155e-01 1.23967358e-02 2.54982914e+02] [-2.32558555e-01 9.72577462e-01 -3.09824212e-03 -5.40423769e+01] [-1.27773724e-02 1.30068725e-04 9.99918358e-01 -5.24127191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.218623853 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:255.01, Y:-54.05, Z:-5.24 [[ 9.72526995e-01 2.32479111e-01 1.20293930e-02 2.55012666e+02] [-2.32459671e-01 9.72601381e-01 -3.00920571e-03 -5.40549937e+01] [-1.23993817e-02 1.30185052e-04 9.99923116e-01 -5.23674614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.248623853 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:255.04, Y:-54.07, Z:-5.24 [[ 9.72434992e-01 2.32852808e-01 1.22374723e-02 2.55042398e+02] [-2.32832700e-01 9.72511981e-01 -3.06283006e-03 -5.40659186e+01] [-1.26142770e-02 1.29119414e-04 9.99920429e-01 -5.24282466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.278623853 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:255.07, Y:-54.08, Z:-5.24 [[ 9.71954171e-01 2.34871974e-01 1.18425342e-02 2.55072840e+02] [-2.34853281e-01 9.72026309e-01 -2.96493075e-03 -5.40776545e+01] [-1.22076339e-02 1.00518806e-04 9.99925479e-01 -5.24311231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30862385300003 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:255.10, Y:-54.09, Z:-5.24 [[ 9.71591634e-01 2.36357932e-01 1.20260119e-02 2.55103552e+02] [-2.36338740e-01 9.71666054e-01 -3.01315538e-03 -5.40877355e+01] [-1.23974507e-02 8.53440682e-05 9.99923145e-01 -5.24359344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.338623853 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:255.13, Y:-54.10, Z:-5.24 [[ 9.71203005e-01 2.37940218e-01 1.22137103e-02 2.55134580e+02] [-2.37920525e-01 9.71279799e-01 -3.06199140e-03 -5.40981363e+01] [-1.25915010e-02 6.79228693e-05 9.99920722e-01 -5.24376718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36862385300003 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:255.16, Y:-54.11, Z:-5.24 [[ 9.70229028e-01 2.41885734e-01 1.21212453e-02 2.55164144e+02] [-2.41866613e-01 9.70304742e-01 -3.04139304e-03 -5.41099797e+01] [-1.24969714e-02 1.91232683e-05 9.99921910e-01 -5.24360862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.398623853 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:255.19, Y:-54.12, Z:-5.24 [[ 9.69624146e-01 2.44320614e-01 1.16813418e-02 2.55194996e+02] [-2.44303006e-01 9.69694507e-01 -2.93321790e-03 -5.41190750e+01] [-1.20439786e-02 -9.66801344e-06 9.99927469e-01 -5.24450530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42862385300003 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:255.22, Y:-54.13, Z:-5.25 [[ 9.68499383e-01 2.48735551e-01 1.18140419e-02 2.55224853e+02] [-2.48717839e-01 9.68571433e-01 -2.96898863e-03 -5.41291317e+01] [-1.21812365e-02 -6.28993244e-05 9.99925804e-01 -5.24523954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.458623853 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:255.25, Y:-54.14, Z:-5.25 [[ 9.68008111e-01 2.50638819e-01 1.18523868e-02 2.55254758e+02] [-2.50621102e-01 9.68080666e-01 -2.98128247e-03 -5.41382888e+01] [-1.22212916e-02 -8.45526151e-05 9.99925314e-01 -5.24544082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48862385300004 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:255.29, Y:-54.15, Z:-5.25 [[ 9.67244560e-01 2.53569270e-01 1.18568844e-02 2.55286461e+02] [-2.53551771e-01 9.67317223e-01 -2.98144619e-03 -5.41488511e+01] [-1.22253716e-02 -1.22546425e-04 9.99925260e-01 -5.24568277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.518623853 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:255.32, Y:-54.16, Z:-5.25 [[ 9.66970599e-01 2.54610259e-01 1.18943832e-02 2.55316714e+02] [-2.54592697e-01 9.67043742e-01 -2.99340839e-03 -5.41582338e+01] [-1.22645413e-02 -1.33685182e-04 9.99924779e-01 -5.24597175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54862385300004 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:255.35, Y:-54.17, Z:-5.25 [[ 9.66632711e-01 2.55858470e-01 1.25557164e-02 2.55348263e+02] [-2.55838973e-01 9.66714239e-01 -3.16239894e-03 -5.41693132e+01] [-1.29469164e-02 -1.55363321e-04 9.99916173e-01 -5.24616192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.578623853 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:255.38, Y:-54.18, Z:-5.25 [[ 9.66541565e-01 2.56191061e-01 1.27883880e-02 2.55379426e+02] [-2.56170829e-01 9.66626150e-01 -3.22363207e-03 -5.41780641e+01] [-1.31874560e-02 -1.60237568e-04 9.99913029e-01 -5.24647497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60862385300004 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:255.41, Y:-54.19, Z:-5.25 [[ 9.66397853e-01 2.56722486e-01 1.29905912e-02 2.55411453e+02] [-2.56701626e-01 9.66485146e-01 -3.27690788e-03 -5.41877386e+01] [-1.33964693e-02 -1.67909137e-04 9.99910249e-01 -5.24674785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.638623853 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:255.44, Y:-54.20, Z:-5.25 [[ 9.66284670e-01 2.57141949e-01 1.31131365e-02 2.55442509e+02] [-2.57120696e-01 9.66373628e-01 -3.31053240e-03 -5.41963682e+01] [-1.35234661e-02 -1.72742077e-04 9.99908539e-01 -5.24775036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66862385300004 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:255.47, Y:-54.21, Z:-5.25 [[ 9.66159674e-01 2.57612531e-01 1.30869517e-02 2.55474313e+02] [-2.57591374e-01 9.66248287e-01 -3.30626331e-03 -5.42052522e+01] [-1.34969795e-02 -1.76707598e-04 9.99908896e-01 -5.24882440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.698623853 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:255.51, Y:-54.21, Z:-5.25 [[ 9.65937673e-01 2.58473961e-01 1.24749243e-02 2.55505975e+02] [-2.58454778e-01 9.66018209e-01 -3.15397267e-03 -5.42145701e+01] [-1.28662238e-02 -1.77662761e-04 9.99917211e-01 -5.24939441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72862385300004 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:255.54, Y:-54.22, Z:-5.25 [[ 9.65679840e-01 2.59438979e-01 1.24041345e-02 2.55537390e+02] [-2.59420062e-01 9.65759484e-01 -3.13851715e-03 -5.42239149e+01] [-1.27936643e-02 -1.87078611e-04 9.99918140e-01 -5.25012832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.758623853 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:255.57, Y:-54.23, Z:-5.25 [[ 9.65530168e-01 2.59999672e-01 1.23152206e-02 2.55569415e+02] [-2.59981039e-01 9.65608686e-01 -3.11849483e-03 -5.42323206e+01] [-1.27024916e-02 -1.90723008e-04 9.99919302e-01 -5.25026237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78862385300005 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:255.60, Y:-54.24, Z:-5.25 [[ 9.65424867e-01 2.60397049e-01 1.21738426e-02 2.55600408e+02] [-2.60378842e-01 9.65501600e-01 -3.08518269e-03 -5.42403283e+01] [-1.25572370e-02 -1.91298940e-04 9.99921136e-01 -5.25124150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.818623853 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:255.63, Y:-54.25, Z:-5.25 [[ 9.65359274e-01 2.60647893e-01 1.20061234e-02 2.55631502e+02] [-2.60630171e-01 9.65433913e-01 -3.04533196e-03 -5.42487002e+01] [-1.23848781e-02 -1.89318540e-04 9.99923287e-01 -5.25207744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.848623853 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:255.66, Y:-54.26, Z:-5.25 [[ 9.65310841e-01 2.60823650e-01 1.20831686e-02 2.55663630e+02] [-2.60805702e-01 9.65386444e-01 -3.06581234e-03 -5.42577235e+01] [-1.24645635e-02 -1.91897373e-04 9.99922296e-01 -5.25306027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.878623853 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:255.69, Y:-54.27, Z:-5.25 [[ 9.65456988e-01 2.60295040e-01 1.18024170e-02 2.55694486e+02] [-2.60277848e-01 9.65529109e-01 -2.99696557e-03 -5.42660581e+01] [-1.21756724e-02 -1.78466340e-04 9.99925858e-01 -5.25384802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.908623853 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:255.73, Y:-54.27, Z:-5.25 [[ 9.65519042e-01 2.60067594e-01 1.17399303e-02 2.55725802e+02] [-2.60050540e-01 9.65590398e-01 -2.98330961e-03 -5.42746077e+01] [-1.21118261e-02 -1.72532964e-04 9.99926634e-01 -5.25466808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.938623853 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:255.76, Y:-54.28, Z:-5.25 [[ 9.65658846e-01 2.59558784e-01 1.14991402e-02 2.55758391e+02] [-2.59542363e-01 9.65727297e-01 -2.92403655e-03 -5.42821189e+01] [-1.18639930e-02 -1.60892261e-04 9.99929607e-01 -5.24776363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.968623853 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:255.79, Y:-54.29, Z:-5.26 [[ 9.65874021e-01 2.58736645e-01 1.19467082e-02 2.55788358e+02] [-2.58718824e-01 9.65947889e-01 -3.04054584e-03 -5.42915043e+01] [-1.23265982e-02 -1.54054073e-04 9.99924013e-01 -5.25503870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.998623853 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:255.82, Y:-54.30, Z:-5.26 [[ 9.65926709e-01 2.58491653e-01 1.29482748e-02 2.55819973e+02] [-2.58470661e-01 9.66013478e-01 -3.29816856e-03 -5.42994497e+01] [-1.33607570e-02 -1.60960044e-04 9.99910728e-01 -5.25524682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.028623853 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:255.85, Y:-54.31, Z:-5.26 [[ 9.65900717e-01 2.58575200e-01 1.32162959e-02 2.55850984e+02] [-2.58553299e-01 9.65991118e-01 -3.36931791e-03 -5.43076842e+01] [-1.36380465e-02 -1.62690312e-04 9.99906984e-01 -5.25603581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05862385300003 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:255.88, Y:-54.32, Z:-5.26 [[ 9.65906386e-01 2.58552652e-01 1.32430630e-02 2.55883226e+02] [-2.58530625e-01 9.65997153e-01 -3.37870530e-03 -5.43159621e+01] [-1.36663343e-02 -1.60224317e-04 9.99906598e-01 -5.25657146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.088623853 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:255.92, Y:-54.32, Z:-5.26 [[ 9.65998438e-01 2.58210331e-01 1.32076654e-02 2.55915061e+02] [-2.58188355e-01 9.66088713e-01 -3.37214577e-03 -5.43230261e+01] [-1.36304993e-02 -1.52577856e-04 9.99907089e-01 -5.25734323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11862385300003 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:255.95, Y:-54.33, Z:-5.26 [[ 9.66036244e-01 2.58077548e-01 1.30366795e-02 2.55946312e+02] [-2.58056090e-01 9.66124194e-01 -3.33114682e-03 -5.43303398e+01] [-1.34547457e-02 -1.46185972e-04 9.99909470e-01 -5.25830594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.148623853 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:255.98, Y:-54.34, Z:-5.26 [[ 9.66245980e-01 2.57316264e-01 1.25317777e-02 2.55977986e+02] [-2.57296345e-01 9.66327234e-01 -3.20424391e-03 -5.43382601e+01] [-1.29343021e-02 -1.28292795e-04 9.99916340e-01 -5.25907096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17862385300003 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:256.01, Y:-54.35, Z:-5.26 [[ 9.66376964e-01 2.56830175e-01 1.24025636e-02 2.56008792e+02] [-2.56810586e-01 9.66456542e-01 -3.17420593e-03 -5.43462462e+01] [-1.28017706e-02 -1.17630135e-04 9.99918047e-01 -5.25964293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.208623853 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:256.04, Y:-54.35, Z:-5.26 [[ 9.66548911e-01 2.56192380e-01 1.21928786e-02 2.56040876e+02] [-2.56173384e-01 9.66625808e-01 -3.12159679e-03 -5.43539458e+01] [-1.25856804e-02 -1.06314986e-04 9.99920792e-01 -5.26006978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23862385300004 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:256.07, Y:-54.36, Z:-5.26 [[ 9.66908706e-01 2.54841970e-01 1.19634375e-02 2.56072439e+02] [-2.54823549e-01 9.66982711e-01 -3.06527368e-03 -5.43606577e+01] [-1.23495976e-02 -8.47257958e-05 9.99923737e-01 -5.26128970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.268623853 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:256.10, Y:-54.37, Z:-5.26 [[ 9.67154682e-01 2.53921911e-01 1.16397668e-02 2.56104354e+02] [-2.53904373e-01 9.67224720e-01 -2.98509472e-03 -5.43683629e+01] [-1.20162511e-02 -6.83393678e-05 9.99927800e-01 -5.26164085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29862385300004 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:256.14, Y:-54.38, Z:-5.26 [[ 9.67647788e-01 2.52027827e-01 1.18208740e-02 2.56136663e+02] [-2.52009594e-01 9.67719987e-01 -3.03182908e-03 -5.43760788e+01] [-1.22034013e-02 -4.52309505e-05 9.99925535e-01 -5.26219528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.328623853 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:256.17, Y:-54.38, Z:-5.26 [[ 9.67885998e-01 2.51110402e-01 1.18432073e-02 2.56168089e+02] [-2.51092001e-01 9.67958452e-01 -3.04004356e-03 -5.43842561e+01] [-1.22271192e-02 -3.13190253e-05 9.99925245e-01 -5.26301540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35862385300004 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:256.20, Y:-54.39, Z:-5.26 [[ 9.68184547e-01 2.49957081e-01 1.18380657e-02 2.56199503e+02] [-2.49938584e-01 9.68256917e-01 -3.04085274e-03 -5.43925825e+01] [-1.22223716e-02 -1.46827367e-05 9.99925304e-01 -5.26369648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.388623853 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:256.23, Y:-54.40, Z:-5.26 [[ 9.68909380e-01 2.47120426e-01 1.20875441e-02 2.56230773e+02] [-2.47100888e-01 9.68984775e-01 -3.10751714e-03 -5.44012289e+01] [-1.24805771e-02 2.40596286e-05 9.99922114e-01 -5.26444149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41862385300004 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:256.26, Y:-54.41, Z:-5.27 [[ 9.69323246e-01 2.45486739e-01 1.21945223e-02 2.56262907e+02] [-2.45466696e-01 9.69399948e-01 -3.13724174e-03 -5.44102202e+01] [-1.25915205e-02 4.76522521e-05 9.99920723e-01 -5.26534054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.448623853 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:256.29, Y:-54.42, Z:-5.27 [[ 9.69676314e-01 2.44102090e-01 1.19170091e-02 2.56294247e+02] [-2.44082817e-01 9.69749537e-01 -3.06811913e-03 -5.44193522e+01] [-1.23054483e-02 6.63453061e-05 9.99924283e-01 -5.26605452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47862385300004 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:256.32, Y:-54.43, Z:-5.26 [[ 9.70262001e-01 2.41827464e-01 1.05417169e-02 2.56324773e+02] [-2.41812229e-01 9.70319262e-01 -2.71581496e-03 -5.44287615e+01] [-1.08855896e-02 8.59360044e-05 9.99940747e-01 -5.25707521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.508623853 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:256.36, Y:-54.44, Z:-5.26 [[ 9.70242471e-01 2.41905836e-01 1.05410504e-02 2.56357163e+02] [-2.41890578e-01 9.70299726e-01 -2.71839854e-03 -5.44372614e+01] [-1.08855748e-02 8.77249319e-05 9.99940747e-01 -5.25772200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53862385300005 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:256.39, Y:-54.45, Z:-5.26 [[ 9.70357879e-01 2.41434724e-01 1.07173138e-02 2.56388878e+02] [-2.41418922e-01 9.70417057e-01 -2.76389498e-03 -5.44469973e+01] [-1.10675644e-02 9.46049193e-05 9.99938748e-01 -5.26202429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.568623853 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:256.42, Y:-54.46, Z:-5.27 [[ 9.70328261e-01 2.41533754e-01 1.11584476e-02 2.56418525e+02] [-2.41516596e-01 9.70392413e-01 -2.88061272e-03 -5.44586090e+01] [-1.15238381e-02 1.00189644e-04 9.99933593e-01 -5.26820913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.598623853 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:256.45, Y:-54.47, Z:-5.27 [[ 9.70112491e-01 2.42398871e-01 1.11598040e-02 2.56450536e+02] [-2.42381757e-01 9.70176674e-01 -2.88184455e-03 -5.44681439e+01] [-1.15255374e-02 9.07804880e-05 9.99933575e-01 -5.26837997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.628623853 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:256.48, Y:-54.48, Z:-5.27 [[ 9.69390582e-01 2.45228140e-01 1.20440458e-02 2.56481193e+02] [-2.45208390e-01 9.69465397e-01 -3.11289714e-03 -5.44779106e+01] [-1.24396556e-02 6.43120869e-05 9.99922622e-01 -5.26819122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.658623853 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:256.51, Y:-54.49, Z:-5.27 [[ 9.68880062e-01 2.47216262e-01 1.24717428e-02 2.56513221e+02] [-2.47195221e-01 9.68960328e-01 -3.22567514e-03 -5.44870679e+01] [-1.28820634e-02 4.23371077e-05 9.99917022e-01 -5.26821655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.688623853 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:256.54, Y:-54.50, Z:-5.27 [[ 9.68248006e-01 2.49652041e-01 1.30252507e-02 2.56544384e+02] [-2.49629271e-01 9.68335612e-01 -3.37173088e-03 -5.44957290e+01] [-1.34545736e-02 1.31878585e-05 9.99909483e-01 -5.26821897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.718623853 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:256.58, Y:-54.50, Z:-5.27 [[ 9.66681985e-01 2.55587781e-01 1.41713126e-02 2.56576286e+02] [-2.55561422e-01 9.66785850e-01 -3.67133350e-03 -5.45039030e+01] [-1.46389725e-02 -7.26288591e-05 9.99892842e-01 -5.26791207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.748623853 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:256.61, Y:-54.51, Z:-5.27 [[ 9.65794313e-01 2.58908974e-01 1.44044652e-02 2.56606936e+02] [-2.58882064e-01 9.65901718e-01 -3.73481271e-03 -5.45113595e+01] [-1.48802742e-02 -1.21996816e-04 9.99889275e-01 -5.26822377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.778623853 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:256.64, Y:-54.52, Z:-5.27 [[ 9.64054483e-01 2.65325523e-01 1.41887343e-02 2.56639307e+02] [-2.65300069e-01 9.64158867e-01 -3.68144164e-03 -5.45179687e+01] [-1.46569745e-02 -2.15161884e-04 9.99892558e-01 -5.26948716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80862385300003 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:256.67, Y:-54.53, Z:-5.27 [[ 9.63159664e-01 2.68568515e-01 1.39432595e-02 2.56670260e+02] [-2.68544233e-01 9.63260550e-01 -3.62059506e-03 -5.45251204e+01] [-1.44033696e-02 -2.57170802e-04 9.99896233e-01 -5.27008800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.838623853 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:256.70, Y:-54.53, Z:-5.27 [[ 9.62282624e-01 2.71704562e-01 1.37398417e-02 2.56702031e+02] [-2.71681266e-01 9.62380664e-01 -3.57029451e-03 -5.45322117e+01] [-1.41930233e-02 -2.97225228e-04 9.99899230e-01 -5.27057000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86862385300003 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:256.73, Y:-54.54, Z:-5.27 [[ 9.60638924e-01 2.77458666e-01 1.37675554e-02 2.56733829e+02] [-2.77435826e-01 9.60737500e-01 -3.58027873e-03 -5.45368446e+01] [-1.42203861e-02 -3.80258000e-04 9.99898813e-01 -5.27123365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.898623853 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:256.77, Y:-54.54, Z:-5.27 [[ 9.59932653e-01 2.79908441e-01 1.34374950e-02 2.56766561e+02] [-2.79886890e-01 9.60026615e-01 -3.49674512e-03 -5.45438571e+01] [-1.38791213e-02 -4.04338865e-04 9.99903599e-01 -5.27187936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92862385300003 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:256.80, Y:-54.55, Z:-5.27 [[ 9.59100918e-01 2.82760786e-01 1.31059681e-02 2.56798410e+02] [-2.82740517e-01 9.59190362e-01 -3.41304781e-03 -5.45488343e+01] [-1.35361944e-02 -4.32130917e-04 9.99908288e-01 -5.27223053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.958623853 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:256.83, Y:-54.56, Z:-5.27 [[ 9.58858322e-01 2.83582212e-01 1.31090549e-02 2.56830331e+02] [-2.83561976e-01 9.58947827e-01 -3.41636458e-03 -5.45550404e+01] [-1.35397199e-02 -4.41419898e-04 9.99908236e-01 -5.27305985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98862385300004 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:256.86, Y:-54.56, Z:-5.27 [[ 9.58847483e-01 2.83602570e-01 1.34568823e-02 2.56862791e+02] [-2.83581215e-01 9.58941802e-01 -3.50933623e-03 -5.45594297e+01] [-1.38996237e-02 -4.51200816e-04 9.99903294e-01 -5.27365196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.018623853 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:256.89, Y:-54.57, Z:-5.27 [[ 9.58976041e-01 2.83166192e-01 1.34855641e-02 2.56894135e+02] [-2.83144672e-01 9.59070754e-01 -3.51911365e-03 -5.45661571e+01] [-1.39301041e-02 -4.43619938e-04 9.99902873e-01 -5.27403555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04862385300004 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:256.92, Y:-54.57, Z:-5.27 [[ 9.59292705e-01 2.82103703e-01 1.32290447e-02 2.56924886e+02] [-2.82082857e-01 9.59383826e-01 -3.45478513e-03 -5.45727069e+01] [-1.36663392e-02 -4.17536534e-04 9.99906524e-01 -5.27492526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.078623853 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:256.96, Y:-54.58, Z:-5.28 [[ 9.60178444e-01 2.79098251e-01 1.27091011e-02 2.56956950e+02] [-2.79078739e-01 9.60262483e-01 -3.31969186e-03 -5.45779255e+01] [-1.31305932e-02 -3.59343351e-04 9.99913725e-01 -5.27582681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10862385300004 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:256.99, Y:-54.58, Z:-5.28 [[ 9.60673000e-01 2.77399448e-01 1.25273160e-02 2.56988387e+02] [-2.77380319e-01 9.60754619e-01 -3.27427439e-03 -5.45842526e+01] [-1.29439586e-02 -3.29323908e-04 9.99916169e-01 -5.27662788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.138623853 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:257.02, Y:-54.59, Z:-5.28 [[ 9.61572811e-01 2.74284462e-01 1.20732338e-02 2.57021102e+02] [-2.74266427e-01 9.61648563e-01 -3.15734575e-03 -5.45897241e+01] [-1.24762189e-02 -2.75264883e-04 9.99922131e-01 -5.27728095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16862385300004 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:257.05, Y:-54.60, Z:-5.28 [[ 9.61935213e-01 2.73011688e-01 1.20525797e-02 2.57052433e+02] [-2.72993583e-01 9.62010682e-01 -3.15452779e-03 -5.45964718e+01] [-1.24559334e-02 -2.55825548e-04 9.99922389e-01 -5.27798660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.198623853 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:257.08, Y:-54.60, Z:-5.28 [[ 9.62600179e-01 2.70664411e-01 1.19025839e-02 2.57082962e+02] [-2.70646548e-01 9.62673739e-01 -3.11741443e-03 -5.46013754e+01] [-1.23020780e-02 -2.20569535e-04 9.99924302e-01 -5.27831634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22862385300004 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:257.12, Y:-54.61, Z:-5.28 [[ 9.62841155e-01 2.69816272e-01 1.16657309e-02 2.57115303e+02] [-2.69799032e-01 9.62911802e-01 -3.05689273e-03 -5.46085216e+01] [-1.20578694e-02 -2.04100788e-04 9.99927280e-01 -5.27826603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.258623853 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:257.15, Y:-54.61, Z:-5.27 [[ 9.63068121e-01 2.69023768e-01 1.12253061e-02 2.57147489e+02] [-2.69007724e-01 9.63133521e-01 -2.94378197e-03 -5.46138518e+01] [-1.16034159e-02 -1.84631467e-04 9.99932661e-01 -5.27032422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28862385300005 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:257.18, Y:-54.62, Z:-5.28 [[ 9.63677061e-01 2.66818333e-01 1.15974103e-02 2.57177414e+02] [-2.66801005e-01 9.63746830e-01 -3.04502990e-03 -5.46187394e+01] [-1.19894372e-02 -1.59775258e-04 9.99928111e-01 -5.27867363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.318623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:257.21, Y:-54.62, Z:-5.28 [[ 9.63983386e-01 2.65694101e-01 1.19446981e-02 2.57207028e+02] [-2.65675630e-01 9.64057375e-01 -3.13645239e-03 -5.46242084e+01] [-1.23487112e-02 -1.49927192e-04 9.99923741e-01 -5.27935641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.348623853 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:257.24, Y:-54.63, Z:-5.28 [[ 9.64536491e-01 2.63674567e-01 1.20449383e-02 2.57236964e+02] [-2.63655625e-01 9.64611687e-01 -3.16293627e-03 -5.46289069e+01] [-1.24526741e-02 -1.24948278e-04 9.99922455e-01 -5.27927471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.378623853 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:257.26, Y:-54.64, Z:-5.28 [[ 9.64719536e-01 2.63006791e-01 1.19851539e-02 2.57264802e+02] [-2.62987988e-01 9.64793975e-01 -3.14702511e-03 -5.46350411e+01] [-1.23908933e-02 -1.15954905e-04 9.99923223e-01 -5.27982819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.408623853 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:257.29, Y:-54.64, Z:-5.28 [[ 9.64890156e-01 2.62400258e-01 1.15364880e-02 2.57293381e+02] [-2.62382799e-01 9.64959115e-01 -3.02873162e-03 -5.46410656e+01] [-1.19269792e-02 -1.04582689e-04 9.99928866e-01 -5.27991713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.438623853 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:257.32, Y:-54.65, Z:-5.28 [[ 9.65025664e-01 2.61913207e-01 1.12667570e-02 2.57321311e+02] [-2.61896523e-01 9.65091427e-01 -2.95783394e-03 -5.46463704e+01] [-1.16481463e-02 -9.63388055e-05 9.99932153e-01 -5.28096418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.468623853 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:257.35, Y:-54.65, Z:-5.28 [[ 9.65140861e-01 2.61519034e-01 1.05315761e-02 2.57349942e+02] [-2.61504438e-01 9.65198315e-01 -2.76437186e-03 -5.46502040e+01] [-1.08879953e-02 -8.60456430e-05 9.99940720e-01 -5.28163148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.498623853 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:257.38, Y:-54.65, Z:-5.28 [[ 9.65131687e-01 2.61573906e-01 9.99596161e-03 2.57377890e+02] [-2.61560763e-01 9.65183446e-01 -2.62344697e-03 -5.46532333e+01] [-1.03341619e-02 -8.25795416e-05 9.99946598e-01 -5.28214943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.528623853 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:257.41, Y:-54.66, Z:-5.28 [[ 9.65073830e-01 2.61786748e-01 1.00100704e-02 2.57406645e+02] [-2.61773586e-01 9.65125739e-01 -2.62643362e-03 -5.46583785e+01] [-1.03485421e-02 -8.56696839e-05 9.99946449e-01 -5.28276141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55862385300003 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:257.43, Y:-54.66, Z:-5.28 [[ 9.65064423e-01 2.61827739e-01 9.84348128e-03 2.57434782e+02] [-2.61815019e-01 9.65114619e-01 -2.58226582e-03 -5.46631600e+01] [-1.01761965e-02 -8.51183653e-05 9.99948218e-01 -5.28271584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.588623853 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:257.46, Y:-54.67, Z:-5.28 [[ 9.65017864e-01 2.61987327e-01 1.01568822e-02 2.57462904e+02] [-2.61973796e-01 9.65071309e-01 -2.66417020e-03 -5.46678224e+01] [-1.05000944e-02 -8.98651453e-05 9.99944868e-01 -5.28333688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61862385300003 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:257.49, Y:-54.67, Z:-5.28 [[ 9.65202750e-01 2.61272019e-01 1.09810331e-02 2.57491082e+02] [-2.61256168e-01 9.65265209e-01 -2.87936412e-03 -5.46699317e+01] [-1.13519065e-02 -8.96924514e-05 9.99935561e-01 -5.28373614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.648623853 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:257.52, Y:-54.67, Z:-5.28 [[ 9.65474315e-01 2.60236061e-01 1.16850172e-02 2.57518596e+02] [-2.60218044e-01 9.65545020e-01 -3.06327912e-03 -5.46747985e+01] [-1.20795858e-02 -8.31350028e-05 9.99927036e-01 -5.28413262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67862385300003 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:257.55, Y:-54.68, Z:-5.28 [[ 9.66164924e-01 2.57635862e-01 1.22107405e-02 2.57547393e+02] [-2.57615994e-01 9.66242081e-01 -3.20005163e-03 -5.46782341e+01] [-1.26229794e-02 -5.39044116e-05 9.99920326e-01 -5.28424573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.708623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:257.57, Y:-54.68, Z:-5.28 [[ 9.66613280e-01 2.55964968e-01 1.18617842e-02 2.57574384e+02] [-2.55946099e-01 9.66686058e-01 -3.10811928e-03 -5.46836305e+01] [-1.22621911e-02 -3.16280351e-05 9.99924816e-01 -5.28460565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73862385300004 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:257.60, Y:-54.69, Z:-5.28 [[ 9.67631000e-01 2.52109437e-01 1.14490015e-02 2.57603524e+02] [-2.52091597e-01 9.67698730e-01 -2.99919821e-03 -5.46876834e+01] [-1.18353104e-02 1.59200798e-05 9.99929960e-01 -5.28056498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.768623853 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:257.63, Y:-54.69, Z:-5.29 [[ 9.68302390e-01 2.49519262e-01 1.14288877e-02 2.57631899e+02] [-2.49501311e-01 9.68369834e-01 -2.99337692e-03 -5.46940950e+01] [-1.18142953e-02 4.69715698e-05 9.99930208e-01 -5.28663719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79862385300004 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:257.66, Y:-54.70, Z:-5.29 [[ 9.69545626e-01 2.44666058e-01 1.09452617e-02 2.57660144e+02] [-2.44649292e-01 9.69607400e-01 -2.86607639e-03 -5.46993918e+01] [-1.13138384e-02 1.01041296e-04 9.99935991e-01 -5.28777592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.828623853 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:257.69, Y:-54.71, Z:-5.29 [[ 9.70282091e-01 2.41734378e-01 1.08238181e-02 2.57688009e+02] [-2.41717802e-01 9.70342451e-01 -2.83395109e-03 -5.47064022e+01] [-1.11878736e-02 1.33422461e-04 9.99937405e-01 -5.28878587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85862385300004 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:257.72, Y:-54.71, Z:-5.29 [[ 9.70914495e-01 2.39178912e-01 1.08853761e-02 2.57715244e+02] [-2.39161992e-01 9.70975500e-01 -2.84960954e-03 -5.47136405e+01] [-1.12510000e-02 1.63358981e-04 9.99936692e-01 -5.28968516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.888623853 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:257.74, Y:-54.72, Z:-5.29 [[ 9.72070230e-01 2.34487450e-01 9.75216747e-03 2.57743873e+02] [-2.34473641e-01 9.72119128e-01 -2.55213440e-03 -5.47207352e+01] [-1.00787120e-02 1.94227654e-04 9.99949190e-01 -5.29015880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91862385300004 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:257.77, Y:-54.73, Z:-5.29 [[ 9.72524333e-01 2.32598618e-01 9.71105593e-03 2.57771438e+02] [-2.32584833e-01 9.72572793e-01 -2.54124001e-03 -5.47282622e+01] [-1.00357977e-02 2.12773425e-04 9.99949617e-01 -5.29174246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.948623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:257.80, Y:-54.74, Z:-5.29 [[ 9.73200312e-01 2.29748163e-01 9.84557472e-03 2.57799461e+02] [-2.29733852e-01 9.73250082e-01 -2.57593996e-03 -5.47367001e+01] [-1.01740239e-02 2.45043765e-04 9.99948213e-01 -5.29213934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97862385300004 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:257.83, Y:-54.74, Z:-5.29 [[ 9.73425869e-01 2.28781895e-01 1.00460168e-02 2.57827820e+02] [-2.28766949e-01 9.73477671e-01 -2.62800004e-03 -5.47444167e+01] [-1.03808119e-02 2.59966617e-04 9.99946084e-01 -5.29262619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.008623853 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:257.86, Y:-54.75, Z:-5.29 [[ 9.73553511e-01 2.28258377e-01 9.57465424e-03 2.57855920e+02] [-2.28244773e-01 9.73600559e-01 -2.50491054e-03 -5.47510957e+01] [-9.89365554e-03 2.53299663e-04 9.99951025e-01 -5.28612300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03862385300005 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:257.88, Y:-54.76, Z:-5.29 [[ 9.73798987e-01 2.27201168e-01 9.75510508e-03 2.57882580e+02] [-2.27187000e-01 9.73847810e-01 -2.55142785e-03 -5.47611263e+01] [-1.00796751e-02 2.68344805e-04 9.99949163e-01 -5.29367696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.068623853 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:257.91, Y:-54.77, Z:-5.29 [[ 9.73903264e-01 2.26763175e-01 9.53383454e-03 2.57911495e+02] [-2.26749626e-01 9.73949892e-01 -2.49306233e-03 -5.47699051e+01] [-9.85081185e-03 2.66208117e-04 9.99951444e-01 -5.29460769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.098623853 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:257.94, Y:-54.78, Z:-5.29 [[ 9.73905382e-01 2.26750405e-01 9.62083631e-03 2.57941059e+02] [-2.26736609e-01 9.73952864e-01 -2.51557863e-03 -5.47799386e+01] [-9.94064955e-03 2.68539763e-04 9.99950554e-01 -5.29222356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.128623853 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:257.97, Y:-54.79, Z:-5.29 [[ 9.73865533e-01 2.26923308e-01 9.57787293e-03 2.57970639e+02] [-2.26909640e-01 9.73912595e-01 -2.50470870e-03 -5.47888155e+01] [-9.89638786e-03 2.65937773e-04 9.99950994e-01 -5.28658594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.158623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:258.00, Y:-54.80, Z:-5.30 [[ 9.73835983e-01 2.27012466e-01 1.04315762e-02 2.57998803e+02] [-2.26996256e-01 9.73891810e-01 -2.72822379e-03 -5.48002332e+01] [-1.07785674e-02 2.88913749e-04 9.99941868e-01 -5.29633694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.188623853 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:258.03, Y:-54.81, Z:-5.30 [[ 9.73736124e-01 2.27435842e-01 1.05308087e-02 2.58029065e+02] [-2.27419349e-01 9.73793025e-01 -2.75396639e-03 -5.48094065e+01] [-1.08811787e-02 2.86726900e-04 9.99940757e-01 -5.29735333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.218623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:258.06, Y:-54.82, Z:-5.30 [[ 9.73419838e-01 2.28808096e-01 1.00336423e-02 2.58057464e+02] [-2.28793192e-01 9.73471514e-01 -2.62429832e-03 -5.48208718e+01] [-1.03679257e-02 2.58914997e-04 9.99946218e-01 -5.29762806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.248623853 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:258.09, Y:-54.83, Z:-5.29 [[ 9.73156503e-01 2.29934774e-01 9.81938401e-03 2.58087817e+02] [-2.29920557e-01 9.73206012e-01 -2.56826880e-03 -5.48302935e+01] [-1.01468179e-02 2.41649244e-04 9.99948491e-01 -5.28917488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.278623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:258.12, Y:-54.84, Z:-5.30 [[ 9.73003494e-01 2.30569537e-01 1.00939780e-02 2.58116571e+02] [-2.30554549e-01 9.73055821e-01 -2.64007208e-03 -5.48409069e+01] [-1.04307243e-02 2.41586818e-04 9.99945569e-01 -5.29843624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30862385300003 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:258.15, Y:-54.85, Z:-5.30 [[ 9.72550874e-01 2.32478741e-01 9.92134770e-03 2.58145261e+02] [-2.32464354e-01 9.72601454e-01 -2.59549403e-03 -5.48522979e+01] [-1.02529144e-02 2.17890300e-04 9.99947414e-01 -5.29937738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.338623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:258.17, Y:-54.86, Z:-5.30 [[ 9.72335961e-01 2.33373245e-01 9.98535146e-03 2.58174020e+02] [-2.33358713e-01 9.72387209e-01 -2.61282823e-03 -5.48620142e+01] [-1.03193922e-02 2.10378082e-04 9.99946732e-01 -5.30032287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36862385300003 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:258.20, Y:-54.87, Z:-5.30 [[ 9.71859425e-01 2.35342022e-01 1.01681278e-02 2.58202911e+02] [-2.35327049e-01 9.71912597e-01 -2.66175581e-03 -5.48737064e+01] [-1.05089545e-02 1.94016964e-04 9.99944761e-01 -5.30051354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.398623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:258.23, Y:-54.88, Z:-5.30 [[ 9.71859736e-01 2.35340738e-01 1.01681249e-02 2.58232895e+02] [-2.35325765e-01 9.71912907e-01 -2.66176703e-03 -5.48815547e+01] [-1.05089540e-02 1.94042439e-04 9.99944761e-01 -5.30111164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42862385300003 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:258.26, Y:-54.89, Z:-5.30 [[ 9.71664144e-01 2.36144049e-01 1.02361789e-02 2.58260744e+02] [-2.36128920e-01 9.71718042e-01 -2.67943881e-03 -5.48906211e+01] [-1.05794132e-02 1.86456756e-04 9.99944019e-01 -5.30209942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.458623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:258.29, Y:-54.90, Z:-5.30 [[ 9.71041073e-01 2.38706691e-01 9.91715683e-03 2.58290707e+02] [-2.38692638e-01 9.71091701e-01 -2.59461526e-03 -5.49036472e+01] [-1.02498207e-02 1.52325656e-04 9.99947458e-01 -5.30292943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48862385300004 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:258.32, Y:-54.91, Z:-5.30 [[ 9.70730566e-01 2.39968104e-01 9.87308578e-03 2.58320424e+02] [-2.39954216e-01 9.70780763e-01 -2.58551134e-03 -5.49136429e+01] [-1.02050420e-02 1.40746329e-04 9.99947917e-01 -5.30300045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.518623853 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:258.35, Y:-54.92, Z:-5.30 [[ 9.70087739e-01 2.42550591e-01 9.94935038e-03 2.58348735e+02] [-2.42536605e-01 9.70138752e-01 -2.60730214e-03 -5.49233009e+01] [-1.02846530e-02 1.16230178e-04 9.99947105e-01 -5.30365115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54862385300004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:258.38, Y:-54.93, Z:-5.30 [[ 9.69808257e-01 2.43662270e-01 1.00321080e-02 2.58377687e+02] [-2.43648107e-01 9.69860138e-01 -2.62922078e-03 -5.49323978e+01] [-1.03703836e-02 1.05535893e-04 9.99946221e-01 -5.30417223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.578623853 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:258.41, Y:-54.94, Z:-5.30 [[ 9.69532984e-01 2.44756135e-01 1.00113242e-02 2.58407633e+02] [-2.44742091e-01 9.69584667e-01 -2.62355671e-03 -5.49423214e+01] [-1.03489580e-02 9.34323575e-05 9.99946444e-01 -5.30477963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60862385300004 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:258.44, Y:-54.95, Z:-5.31 [[ 9.69105651e-01 2.46446568e-01 9.91593830e-03 2.58436465e+02] [-2.46432883e-01 9.69156377e-01 -2.59814790e-03 -5.49539483e+01] [-1.02503995e-02 7.42665426e-05 9.99947461e-01 -5.30528465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.638623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:258.47, Y:-54.96, Z:-5.31 [[ 9.68947806e-01 2.47067075e-01 9.90000416e-03 2.58467164e+02] [-2.47053463e-01 9.68998378e-01 -2.59431689e-03 -5.49637719e+01] [-1.02340583e-02 6.79273444e-05 9.99947628e-01 -5.30628760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66862385300004 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:258.50, Y:-54.97, Z:-5.31 [[ 9.68939217e-01 2.47104078e-01 9.81675452e-03 2.58496347e+02] [-2.47090678e-01 9.68988942e-01 -2.57429074e-03 -5.49747047e+01] [-1.01484443e-02 6.87027196e-05 9.99948501e-01 -5.30740722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.698623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:258.53, Y:-54.98, Z:-5.31 [[ 9.68922660e-01 2.47162696e-01 9.97405754e-03 2.58526888e+02] [-2.47148850e-01 9.68973992e-01 -2.61711114e-03 -5.49847813e+01] [-1.03114546e-02 7.07014417e-05 9.99946833e-01 -5.30797728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72862385300004 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:258.56, Y:-54.99, Z:-5.31 [[ 9.68929037e-01 2.47131842e-01 1.01180384e-02 2.58557985e+02] [-2.47117573e-01 9.68981861e-01 -2.65666157e-03 -5.49947565e+01] [-1.04607413e-02 7.37714460e-05 9.99945282e-01 -5.30826715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.758623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:258.59, Y:-55.01, Z:-5.31 [[ 9.68867651e-01 2.47375886e-01 1.00322928e-02 2.58588402e+02] [-2.47361854e-01 9.68919587e-01 -2.63572908e-03 -5.50061593e+01] [-1.03725008e-02 7.20660768e-05 9.99946202e-01 -5.30873728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78862385300005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:258.62, Y:-55.02, Z:-5.31 [[ 9.68725973e-01 2.47930382e-01 1.00256910e-02 2.58618564e+02] [-2.47916378e-01 9.68777849e-01 -2.63595301e-03 -5.50160525e+01] [-1.03662002e-02 6.79831365e-05 9.99946267e-01 -5.30909541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.818623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:258.65, Y:-55.03, Z:-5.31 [[ 9.68521900e-01 2.48730709e-01 9.91780738e-03 2.58649063e+02] [-2.48717030e-01 9.68572677e-01 -2.60923933e-03 -5.50272173e+01] [-1.02551152e-02 6.03778385e-05 9.99947413e-01 -5.30956898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.848623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:258.68, Y:-55.04, Z:-5.31 [[ 9.68343728e-01 2.49415465e-01 1.01167946e-02 2.58679323e+02] [-2.49401250e-01 9.68396573e-01 -2.66337092e-03 -5.50368207e+01] [-1.04613551e-02 5.59173000e-05 9.99945277e-01 -5.31051518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.878623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:258.71, Y:-55.05, Z:-5.31 [[ 9.68206215e-01 2.49943366e-01 1.02488791e-02 2.58709751e+02] [-2.49928789e-01 9.68260456e-01 -2.69990380e-03 -5.50465732e+01] [-1.05984074e-02 5.25736949e-05 9.99943834e-01 -5.31111953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.908623853 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:258.74, Y:-55.06, Z:-5.31 [[ 9.67929939e-01 2.51005999e-01 1.03740589e-02 2.58739575e+02] [-2.50991107e-01 9.67985530e-01 -2.73455891e-03 -5.50584908e+01] [-1.07283296e-02 4.30649030e-05 9.99942449e-01 -5.31182370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.938623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:258.77, Y:-55.07, Z:-5.31 [[ 9.67812995e-01 2.51453168e-01 1.04552000e-02 2.58770924e+02] [-2.51438048e-01 9.67869466e-01 -2.75772560e-03 -5.50688556e+01] [-1.08127077e-02 4.01275959e-05 9.99941540e-01 -5.31280878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.968623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:258.80, Y:-55.08, Z:-5.31 [[ 9.67710911e-01 2.51856135e-01 1.02020056e-02 2.58801248e+02] [-2.51841740e-01 9.67764685e-01 -2.69295666e-03 -5.50797177e+01] [-1.05513784e-02 3.67127086e-05 9.99944332e-01 -5.31359082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.998623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:258.83, Y:-55.09, Z:-5.31 [[ 9.67639837e-01 2.52119266e-01 1.04413309e-02 2.58833033e+02] [-2.52104182e-01 9.67696168e-01 -2.75806814e-03 -5.50889877e+01] [-1.07993980e-02 3.65134253e-05 9.99941684e-01 -5.31487441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.028623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.86, Y:-55.10, Z:-5.32 [[ 9.67566034e-01 2.52406743e-01 1.03347143e-02 2.58864164e+02] [-2.52391962e-01 9.67621225e-01 -2.73179968e-03 -5.50986524e+01] [-1.06896135e-02 3.47977719e-05 9.99942864e-01 -5.31583703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05862385300003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:258.89, Y:-55.11, Z:-5.32 [[ 9.67419625e-01 2.52978442e-01 1.00587154e-02 2.58894873e+02] [-2.52964454e-01 9.67471915e-01 -2.66039717e-03 -5.51106831e+01] [-1.04045478e-02 2.92229923e-05 9.99945871e-01 -5.31672254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.088623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:258.93, Y:-55.12, Z:-5.32 [[ 9.67288853e-01 2.53475683e-01 1.01169771e-02 2.58926369e+02] [-2.53461538e-01 9.67341758e-01 -2.67797536e-03 -5.51207391e+01] [-1.04653760e-02 2.61111495e-05 9.99945236e-01 -5.31697599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:258.96, Y:-55.13, Z:-5.32 [[ 9.66846260e-01 2.55159302e-01 1.01015152e-02 2.58957095e+02] [-2.55145268e-01 9.66899028e-01 -2.67614588e-03 -5.51307586e+01] [-1.04499888e-02 1.00678333e-05 9.99945397e-01 -5.31696806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.148623853 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:258.99, Y:-55.14, Z:-5.32 [[ 9.66545416e-01 2.56281715e-01 1.04709268e-02 2.58987595e+02] [-2.56266678e-01 9.66602132e-01 -2.77621134e-03 -5.51395850e+01] [-1.08327124e-02 -1.52763742e-08 9.99941324e-01 -5.31777118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:259.02, Y:-55.15, Z:-5.32 [[ 9.65991317e-01 2.58332736e-01 1.11791392e-02 2.59019233e+02] [-2.58315704e-01 9.66056001e-01 -2.96645874e-03 -5.51493734e+01] [-1.15660079e-02 -2.21738320e-05 9.99933111e-01 -5.31804845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.208623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:259.05, Y:-55.16, Z:-5.32 [[ 9.65709165e-01 2.59379544e-01 1.13164097e-02 2.59049488e+02] [-2.59362135e-01 9.65775466e-01 -3.00531069e-03 -5.51582123e+01] [-1.17086270e-02 -3.27921051e-05 9.99931451e-01 -5.31889348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23862385300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:259.08, Y:-55.17, Z:-5.32 [[ 9.65233739e-01 2.61153625e-01 1.10730611e-02 2.59080905e+02] [-2.61137052e-01 9.65297250e-01 -2.94255573e-03 -5.51680388e+01] [-1.14572545e-02 -5.13324517e-05 9.99934362e-01 -5.31958217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.268623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:259.11, Y:-55.18, Z:-5.32 [[ 9.65066178e-01 2.61779959e-01 1.08869510e-02 2.59112052e+02] [-2.61763953e-01 9.65127582e-01 -2.89536576e-03 -5.51771612e+01] [-1.12652454e-02 -5.55917585e-05 9.99936544e-01 -5.32038580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.14, Y:-55.19, Z:-5.32 [[ 9.64916440e-01 2.62352889e-01 1.03549341e-02 2.59143460e+02] [-2.62338423e-01 9.64971999e-01 -2.75559543e-03 -5.51860504e+01] [-1.07151599e-02 -5.75777579e-05 9.99942589e-01 -5.32119460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.328623853 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:259.18, Y:-55.19, Z:-5.31 [[ 9.64731317e-01 2.63085238e-01 8.92431881e-03 2.59175444e+02] [-2.63074514e-01 9.64772592e-01 -2.37611736e-03 -5.51941577e+01] [-9.23505959e-03 -5.54459974e-05 9.99957354e-01 -5.31356359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.21, Y:-55.20, Z:-5.32 [[ 9.64866819e-01 2.62568339e-01 9.48096253e-03 2.59206332e+02] [-2.62556188e-01 9.64913397e-01 -2.52662788e-03 -5.52033447e+01] [-9.81172025e-03 -5.14259752e-05 9.99951863e-01 -5.32341915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.388623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:259.24, Y:-55.21, Z:-5.32 [[ 9.64925099e-01 2.62349681e-01 9.60198358e-03 2.59237174e+02] [-2.62337187e-01 9.64972871e-01 -2.56078322e-03 -5.52115965e+01] [-9.93747433e-03 -4.79933590e-05 9.99950621e-01 -5.32302917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:259.27, Y:-55.22, Z:-5.32 [[ 9.64871078e-01 2.62532665e-01 1.00201159e-02 2.59268140e+02] [-2.62519042e-01 9.64923104e-01 -2.67489678e-03 -5.52199154e+01] [-1.03708892e-02 -4.95407026e-05 9.99946220e-01 -5.32278851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.448623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.30, Y:-55.23, Z:-5.32 [[ 9.64809659e-01 2.62733327e-01 1.06546560e-02 2.59299639e+02] [-2.62717927e-01 9.64868486e-01 -2.84517153e-03 -5.52280064e+01] [-1.10278631e-02 -5.41201497e-05 9.99939190e-01 -5.32318480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47862385300004 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:259.33, Y:-55.24, Z:-5.31 [[ 9.64613535e-01 2.63424378e-01 1.13280565e-02 2.59330729e+02] [-2.63406987e-01 9.64680047e-01 -3.02758809e-03 -5.52354121e+01] [-1.17254906e-02 -6.34367817e-05 9.99931252e-01 -5.31487491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.508623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:259.36, Y:-55.24, Z:-5.32 [[ 9.64693181e-01 2.63103214e-01 1.19902097e-02 2.59360931e+02] [-2.63083675e-01 9.64767690e-01 -3.20701770e-03 -5.52441364e+01] [-1.24115435e-02 -6.06403105e-05 9.99922972e-01 -5.32414811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53862385300005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:259.39, Y:-55.25, Z:-5.32 [[ 9.64870027e-01 2.62439769e-01 1.22963101e-02 2.59392890e+02] [-2.62419137e-01 9.64948374e-01 -3.29118067e-03 -5.52521067e+01] [-1.27290412e-02 -5.12255088e-05 9.99918981e-01 -5.32480135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.568623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.42, Y:-55.26, Z:-5.33 [[ 9.64977773e-01 2.62039960e-01 1.23675415e-02 2.59424781e+02] [-2.62019024e-01 9.65057023e-01 -3.31266387e-03 -5.52603764e+01] [-1.28034331e-02 -4.38841673e-05 9.99918032e-01 -5.32546138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.598623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:259.46, Y:-55.27, Z:-5.33 [[ 9.65149129e-01 2.61407175e-01 1.23873809e-02 2.59456770e+02] [-2.61386088e-01 9.65228619e-01 -3.32042791e-03 -5.52688290e+01] [-1.28246383e-02 -3.31809355e-05 9.99917760e-01 -5.32608434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.628623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:259.49, Y:-55.28, Z:-5.33 [[ 9.65408209e-01 2.60454206e-01 1.22717559e-02 2.59488094e+02] [-2.60433403e-01 9.65486202e-01 -3.29180528e-03 -5.52775555e+01] [-1.27055755e-02 -1.80392962e-05 9.99919281e-01 -5.32691714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.658623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.52, Y:-55.29, Z:-5.33 [[ 9.66091302e-01 2.57953084e-01 1.13050083e-02 2.59519123e+02] [-2.57935235e-01 9.66157444e-01 -3.03449450e-03 -5.52870051e+01] [-1.17051752e-02 1.56387531e-05 9.99931492e-01 -5.32825345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.688623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:259.55, Y:-55.30, Z:-5.32 [[ 9.66350104e-01 2.57012448e-01 1.05867312e-02 2.59551042e+02] [-2.56996721e-01 9.66408092e-01 -2.84332145e-03 -5.52957424e+01] [-1.09618717e-02 2.68887595e-05 9.99939917e-01 -5.32204564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.718623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:259.58, Y:-55.31, Z:-5.32 [[ 9.67070437e-01 2.54303934e-01 1.02117267e-02 2.59581227e+02] [-2.54289125e-01 9.67124349e-01 -2.74505513e-03 -5.53060045e+01] [-1.05740878e-02 5.79306328e-05 9.99944091e-01 -5.32144773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.748623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.61, Y:-55.32, Z:-5.33 [[ 9.67465368e-01 2.52776383e-01 1.07173745e-02 2.59612561e+02] [-2.52759967e-01 9.67524725e-01 -2.88181353e-03 -5.53161797e+01] [-1.10977793e-02 7.91315505e-05 9.99938415e-01 -5.32951477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.778623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:259.64, Y:-55.33, Z:-5.33 [[ 9.68002450e-01 2.50683847e-01 1.13519287e-02 2.59643354e+02] [-2.50665257e-01 9.68069004e-01 -3.05492135e-03 -5.53258880e+01] [-1.17552698e-02 1.11637217e-04 9.99930898e-01 -5.33001677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:259.67, Y:-55.33, Z:-5.33 [[ 9.68134592e-01 2.50168577e-01 1.14496589e-02 2.59674877e+02] [-2.50149606e-01 9.68202287e-01 -3.08322105e-03 -5.53349295e+01] [-1.18569110e-02 1.20845285e-04 9.99929697e-01 -5.33014194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.838623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.71, Y:-55.34, Z:-5.33 [[ 9.68335883e-01 2.49371124e-01 1.18177796e-02 2.59705857e+02] [-2.49350824e-01 9.68407984e-01 -3.18480076e-03 -5.53440106e+01] [-1.22386295e-02 1.37183761e-04 9.99925096e-01 -5.33079213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:259.74, Y:-55.35, Z:-5.33 [[ 9.68494603e-01 2.48734199e-01 1.22270832e-02 2.59737627e+02] [-2.48712390e-01 9.68571771e-01 -3.29730593e-03 -5.53538253e+01] [-1.26629604e-02 1.52395905e-04 9.99919810e-01 -5.33163740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.898623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.77, Y:-55.36, Z:-5.33 [[ 9.68835502e-01 2.47404029e-01 1.22072275e-02 2.59768103e+02] [-2.47382150e-01 9.68912388e-01 -3.29471849e-03 -5.53647745e+01] [-1.26428606e-02 1.72190054e-04 9.99920061e-01 -5.33200418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.80, Y:-55.37, Z:-5.33 [[ 9.68902862e-01 2.47152424e-01 1.19550617e-02 2.59799568e+02] [-2.47131409e-01 9.68976599e-01 -3.22756755e-03 -5.53748699e+01] [-1.23818761e-02 1.72728205e-04 9.99923327e-01 -5.33255347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.958623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:259.83, Y:-55.39, Z:-5.33 [[ 9.68854669e-01 2.47354449e-01 1.16793764e-02 2.59830313e+02] [-2.47334382e-01 9.68925048e-01 -3.15523779e-03 -5.53861264e+01] [-1.20969025e-02 1.68255521e-04 9.99926816e-01 -5.33274919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98862385300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:259.86, Y:-55.40, Z:-5.33 [[ 9.68709487e-01 2.47923788e-01 1.16501538e-02 2.59860957e+02] [-2.47903835e-01 9.68779525e-01 -3.14958452e-03 -5.53958839e+01] [-1.20672874e-02 1.62914606e-04 9.99927174e-01 -5.33319698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.018623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.89, Y:-55.41, Z:-5.33 [[ 9.68541469e-01 2.48585227e-01 1.15241902e-02 2.59892779e+02] [-2.48565729e-01 9.68610015e-01 -3.11724125e-03 -5.54055780e+01] [-1.19373461e-02 1.54658691e-04 9.99928735e-01 -5.33407363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.92, Y:-55.42, Z:-5.33 [[ 9.68167473e-01 2.50052457e-01 1.12032324e-02 2.59924345e+02] [-2.50034103e-01 9.68232281e-01 -3.03264986e-03 -5.54166182e+01] [-1.16056528e-02 1.34922797e-04 9.99932643e-01 -5.33473085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.078623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:259.96, Y:-55.43, Z:-5.34 [[ 9.67979686e-01 2.50786473e-01 1.10214498e-02 2.59955863e+02] [-2.50768731e-01 9.68042421e-01 -2.98566476e-03 -5.54265208e+01] [-1.14179953e-02 1.26227842e-04 9.99934805e-01 -5.33510900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.99, Y:-55.44, Z:-5.34 [[ 9.67774937e-01 2.51568882e-01 1.11700340e-02 2.59987766e+02] [-2.51550684e-01 9.67839389e-01 -3.02826115e-03 -5.54363884e+01] [-1.15726151e-02 1.20845566e-04 9.99933028e-01 -5.33638818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.138623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:260.02, Y:-55.45, Z:-5.34 [[ 9.67509811e-01 2.52624298e-01 1.02824632e-02 2.60019178e+02] [-2.52608917e-01 9.67564444e-01 -2.78945772e-03 -5.54475589e+01] [-1.06536306e-02 1.01385822e-04 9.99943243e-01 -5.33783307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16862385300004 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:260.05, Y:-55.46, Z:-5.34 [[ 9.67366543e-01 2.53165816e-01 1.04422265e-02 2.60049197e+02] [-2.53149955e-01 9.67422896e-01 -2.83565606e-03 -5.54574212e+01] [-1.08199402e-02 9.96696218e-05 9.99941458e-01 -5.33842145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.198623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:260.08, Y:-55.47, Z:-5.34 [[ 9.67233472e-01 2.53623821e-01 1.15917142e-02 2.60080187e+02] [-2.53604293e-01 9.67302924e-01 -3.14902910e-03 -5.54691969e+01] [-1.20113679e-02 1.06137856e-04 9.99927855e-01 -5.33771778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.11, Y:-55.48, Z:-5.34 [[ 9.67221196e-01 2.53627754e-01 1.24948101e-02 2.60111811e+02] [-2.53605028e-01 9.67301891e-01 -3.39722986e-03 -5.54795017e+01] [-1.29478853e-02 1.17126046e-04 9.99916166e-01 -5.33843641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.258623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:260.14, Y:-55.49, Z:-5.34 [[ 9.67159547e-01 2.53836126e-01 1.30242663e-02 2.60142218e+02] [-2.53811412e-01 9.67247231e-01 -3.54412745e-03 -5.54895947e+01] [-1.34973131e-02 1.22029276e-04 9.99908900e-01 -5.33880061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28862385300005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:260.17, Y:-55.50, Z:-5.34 [[ 9.66854347e-01 2.54987309e-01 1.31963544e-02 2.60173325e+02] [-2.54962011e-01 9.66944393e-01 -3.59349478e-03 -5.55020499e+01] [-1.36764365e-02 1.09816999e-04 9.99906467e-01 -5.33934030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.318623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:260.21, Y:-55.51, Z:-5.34 [[ 9.66833217e-01 2.55067460e-01 1.31955216e-02 2.60205593e+02] [-2.55042127e-01 9.66923253e-01 -3.59655013e-03 -5.55109872e+01] [-1.36764195e-02 1.11850235e-04 9.99906467e-01 -5.33998723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.348623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:260.24, Y:-55.52, Z:-5.34 [[ 9.66601102e-01 2.55979208e-01 1.25281292e-02 2.60237282e+02] [-2.55956445e-01 9.66682283e-01 -3.41498781e-03 -5.55215241e+01] [-1.29848865e-02 9.42755540e-05 9.99915688e-01 -5.34017863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.378623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:260.27, Y:-55.53, Z:-5.34 [[ 9.65783273e-01 2.59085722e-01 1.17157284e-02 2.60267250e+02] [-2.59066011e-01 9.65854330e-01 -3.19619654e-03 -5.55321315e+01] [-1.21437759e-02 5.16861345e-05 9.99926260e-01 -5.34106512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.408623853 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:260.30, Y:-55.54, Z:-5.34 [[ 9.65225690e-01 2.61172315e-01 1.13308626e-02 2.60299033e+02] [-2.61154013e-01 9.65292195e-01 -3.09200895e-03 -5.55416625e+01] [-1.17451404e-02 2.53862342e-05 9.99931023e-01 -5.34176937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.438623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:260.33, Y:-55.55, Z:-5.34 [[ 9.64614706e-01 2.63435956e-01 1.09528921e-02 2.60331061e+02] [-2.63418977e-01 9.64676887e-01 -2.99090921e-03 -5.55511018e+01] [-1.13539148e-02 -1.24611212e-07 9.99935542e-01 -5.34236428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.468623853 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:260.36, Y:-55.56, Z:-5.34 [[ 9.63529459e-01 2.67366148e-01 1.12394317e-02 2.60361250e+02] [-2.67348507e-01 9.63595009e-01 -3.07162366e-03 -5.55605637e+01] [-1.16515085e-02 -4.52454172e-05 9.99932118e-01 -5.34290915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.498623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:260.39, Y:-55.57, Z:-5.34 [[ 9.62914843e-01 2.69572176e-01 1.12181970e-02 2.60393020e+02] [-2.69554728e-01 9.62980185e-01 -3.06785024e-03 -5.55702677e+01] [-1.16299085e-02 -6.98395099e-05 9.99932368e-01 -5.34343705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.528623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:260.42, Y:-55.58, Z:-5.34 [[ 9.62368054e-01 2.71521027e-01 1.11382146e-02 2.60423358e+02] [-2.71503931e-01 9.62432503e-01 -3.04827419e-03 -5.55797295e+01] [-1.15474503e-02 -9.05073544e-05 9.99933322e-01 -5.34435890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55862385300003 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:260.45, Y:-55.59, Z:-5.34 [[ 9.61460824e-01 2.74688337e-01 1.18068200e-02 2.60454160e+02] [-2.74669330e-01 9.61533307e-01 -3.23410869e-03 -5.55887525e+01] [-1.22410226e-02 -1.33502541e-04 9.99925067e-01 -5.34461686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.588623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:260.49, Y:-55.60, Z:-5.35 [[ 9.61081587e-01 2.75995650e-01 1.21895116e-02 2.60485531e+02] [-2.75975484e-01 9.61158872e-01 -3.33993980e-03 -5.55976433e+01] [-1.26378661e-02 -1.54051725e-04 9.99920127e-01 -5.34501453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:260.52, Y:-55.61, Z:-5.35 [[ 9.60635880e-01 2.77519522e-01 1.27130346e-02 2.60516382e+02] [-2.77497677e-01 9.60719982e-01 -3.48661127e-03 -5.56068335e+01] [-1.31812691e-02 -1.78473686e-04 9.99913107e-01 -5.34558770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.648623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:260.55, Y:-55.62, Z:-5.35 [[ 9.60461391e-01 2.78121517e-01 1.27412074e-02 2.60547717e+02] [-2.78099611e-01 9.60545880e-01 -3.49554730e-03 -5.56160537e+01] [-1.32107012e-02 -1.85986618e-04 9.99912718e-01 -5.34543946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:260.58, Y:-55.62, Z:-5.35 [[ 9.60361010e-01 2.78467887e-01 1.27423161e-02 2.60579327e+02] [-2.78445975e-01 9.60445522e-01 -3.49836625e-03 -5.56249807e+01] [-1.32124831e-02 -1.88352087e-04 9.99912694e-01 -5.34639384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.708623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:260.61, Y:-55.63, Z:-5.35 [[ 9.60313745e-01 2.78641021e-01 1.25177163e-02 2.60609735e+02] [-2.78619857e-01 9.60395308e-01 -3.43923789e-03 -5.56334994e+01] [-1.29802688e-02 -1.84936913e-04 9.99915736e-01 -5.34682732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:260.64, Y:-55.64, Z:-5.35 [[ 9.60223250e-01 2.78957379e-01 1.24133606e-02 2.60642003e+02] [-2.78936564e-01 9.60303466e-01 -3.41280062e-03 -5.56423801e+01] [-1.28726191e-02 -1.85489631e-04 9.99917127e-01 -5.34690474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.768623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:260.67, Y:-55.65, Z:-5.35 [[ 9.60305669e-01 2.78641144e-01 1.31200070e-02 2.60674311e+02] [-2.78617823e-01 9.60395271e-01 -3.60990294e-03 -5.56509719e+01] [-1.36062602e-02 -1.88857526e-04 9.99907413e-01 -5.34705737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79862385300004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:260.71, Y:-55.66, Z:-5.35 [[ 9.60341413e-01 2.78497901e-01 1.35384401e-02 2.60705463e+02] [-2.78473014e-01 9.60436819e-01 -3.72795106e-03 -5.56591120e+01] [-1.40410429e-02 -1.89984421e-04 9.99901402e-01 -5.34807571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.828623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:260.74, Y:-55.67, Z:-5.35 [[ 9.60396228e-01 2.78305991e-01 1.35963766e-02 2.60737256e+02] [-2.78280835e-01 9.60492447e-01 -3.74639095e-03 -5.56672004e+01] [-1.41018601e-02 -1.85591304e-04 9.99900547e-01 -5.34846608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85862385300004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:260.77, Y:-55.68, Z:-5.35 [[ 9.60401336e-01 2.78307096e-01 1.32073868e-02 2.60767868e+02] [-2.78283323e-01 9.60492128e-01 -3.64187304e-03 -5.56750060e+01] [-1.36991501e-02 -1.77735745e-04 9.99906146e-01 -5.34910581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.888623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:260.80, Y:-55.68, Z:-5.35 [[ 9.60535603e-01 2.77875101e-01 1.25213016e-02 2.60800215e+02] [-2.77853670e-01 9.60617199e-01 -3.45482209e-03 -5.56828971e+01] [-1.29881867e-02 -1.60609974e-04 9.99915637e-01 -5.35050439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91862385300004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:260.83, Y:-55.69, Z:-5.35 [[ 9.60619697e-01 2.77595288e-01 1.22740709e-02 2.60831566e+02] [-2.77574641e-01 9.60698097e-01 -3.38903024e-03 -5.56914082e+01] [-1.27324554e-02 -1.51401634e-04 9.99918928e-01 -5.35089280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.948623853 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:260.86, Y:-55.70, Z:-5.35 [[ 9.61108074e-01 2.75912049e-01 1.19921110e-02 2.60863526e+02] [-2.75892180e-01 9.61182878e-01 -3.31352233e-03 -5.57004923e+01] [-1.24408525e-02 -1.23876588e-04 9.99922602e-01 -5.35161407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97862385300004 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:260.89, Y:-55.71, Z:-5.35 [[ 9.61312539e-01 2.75205766e-01 1.18316744e-02 2.60894395e+02] [-2.75186341e-01 9.61385341e-01 -3.27161622e-03 -5.57095607e+01] [-1.22751660e-02 -1.10869480e-04 9.99924651e-01 -5.35240661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.008623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:260.93, Y:-55.72, Z:-5.35 [[ 9.61728928e-01 2.73721766e-01 1.24041973e-02 2.60926575e+02] [-2.73700262e-01 9.61808913e-01 -3.43235575e-03 -5.57178770e+01] [-1.28699780e-02 -9.40362299e-05 9.99917174e-01 -5.35321855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03862385300005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:260.96, Y:-55.73, Z:-5.35 [[ 9.61802548e-01 2.73458059e-01 1.25119706e-02 2.60958391e+02] [-2.73436124e-01 9.61883923e-01 -3.46470224e-03 -5.57263309e+01] [-1.29825141e-02 -8.88652907e-05 9.99915720e-01 -5.35364473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.068623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:260.99, Y:-55.73, Z:-5.35 [[ 9.61948766e-01 2.72940941e-01 1.25624034e-02 2.60989269e+02] [-2.72918751e-01 9.62030788e-01 -3.48126232e-03 -5.57348933e+01] [-1.30355979e-02 -7.97194540e-05 9.99915030e-01 -5.35436758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.098623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:261.02, Y:-55.74, Z:-5.36 [[ 9.62230069e-01 2.71954976e-01 1.24009967e-02 2.61021173e+02] [-2.71933242e-01 9.62309974e-01 -3.43872043e-03 -5.57447114e+01] [-1.28687800e-02 -6.34030464e-05 9.99917192e-01 -5.35512711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.128623853 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:261.05, Y:-55.75, Z:-5.36 [[ 9.62346177e-01 2.71546534e-01 1.23416547e-02 2.61051431e+02] [-2.71524942e-01 9.62425310e-01 -3.42476447e-03 -5.57535483e+01] [-1.28079037e-02 -5.52580799e-05 9.99917974e-01 -5.35578792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.158623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:261.08, Y:-55.76, Z:-5.36 [[ 9.62346999e-01 2.71561763e-01 1.19357986e-02 2.61082874e+02] [-2.71541544e-01 9.62421013e-01 -3.31415498e-03 -5.57628500e+01] [-1.23872612e-02 -5.16980932e-05 9.99923274e-01 -5.35606223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.188623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:261.11, Y:-55.77, Z:-5.36 [[ 9.62317500e-01 2.71686539e-01 1.14652892e-02 2.61113980e+02] [-2.71667861e-01 9.62385797e-01 -3.18611987e-03 -5.57714154e+01] [-1.18996574e-02 -4.86916786e-05 9.99929195e-01 -5.35694629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.218623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:261.15, Y:-55.78, Z:-5.36 [[ 9.62172677e-01 2.72211315e-01 1.11686749e-02 2.61145188e+02] [-2.72193616e-01 9.62237495e-01 -3.10455174e-03 -5.57797717e+01] [-1.15920118e-02 -5.29271465e-05 9.99932809e-01 -5.35765841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.248623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:261.18, Y:-55.79, Z:-5.36 [[ 9.61982071e-01 2.72881717e-01 1.12277806e-02 2.61177305e+02] [-2.72863853e-01 9.62047590e-01 -3.12294006e-03 -5.57887932e+01] [-1.16538525e-02 -5.94431360e-05 9.99932090e-01 -5.35834583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.278623853 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:261.21, Y:-55.80, Z:-5.35 [[ 9.61537485e-01 2.74486451e-01 1.01416307e-02 2.61209067e+02] [-2.74471948e-01 9.61590965e-01 -2.82241685e-03 -5.57980628e+01] [-1.05268156e-02 -6.97335403e-05 9.99944589e-01 -5.34922432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:261.24, Y:-55.81, Z:-5.36 [[ 9.61270238e-01 2.75378107e-01 1.12439963e-02 2.61239875e+02] [-2.75360310e-01 9.61335993e-01 -3.13190799e-03 -5.58067783e+01] [-1.16717173e-02 -8.55403792e-05 9.99931880e-01 -5.35861561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.338623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:261.27, Y:-55.82, Z:-5.36 [[ 9.60693608e-01 2.77354009e-01 1.19392511e-02 2.61270322e+02] [-2.77334065e-01 9.60767787e-01 -3.32798646e-03 -5.58153571e+01] [-1.23938782e-02 -1.13985715e-04 9.99923186e-01 -5.35911721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:261.30, Y:-55.82, Z:-5.36 [[ 9.60357663e-01 2.78505792e-01 1.21524791e-02 2.61301795e+02] [-2.78485196e-01 9.60434541e-01 -3.38946173e-03 -5.58240793e+01] [-1.26156454e-02 -1.29189962e-04 9.99920411e-01 -5.35900584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.398623853 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:261.33, Y:-55.83, Z:-5.35 [[ 9.60008484e-01 2.79734278e-01 1.15084560e-02 2.61333337e+02] [-2.79715863e-01 9.60077453e-01 -3.21253050e-03 -5.58322330e+01] [-1.19476640e-02 -1.35041158e-04 9.99928615e-01 -5.34970754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42862385300003 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:261.36, Y:-55.84, Z:-5.36 [[ 9.59580888e-01 2.81097181e-01 1.37438943e-02 2.61363659e+02] [-2.81071030e-01 9.59679291e-01 -3.83845266e-03 -5.58400567e+01] [-1.42687090e-02 -1.79704714e-04 9.99898181e-01 -5.36001215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.458623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:261.39, Y:-55.85, Z:-5.36 [[ 9.59466978e-01 2.81468161e-01 1.40993755e-02 2.61393837e+02] [-2.81440638e-01 9.59570549e-01 -3.94052435e-03 -5.58490912e+01] [-1.46384776e-02 -1.87334249e-04 9.99892834e-01 -5.36045657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48862385300004 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:261.43, Y:-55.86, Z:-5.35 [[ 9.59339315e-01 2.81921319e-01 1.37276766e-02 2.61426007e+02] [-2.81895244e-01 9.59437510e-01 -3.83879428e-03 -5.58576734e+01] [-1.42530858e-02 -1.87060455e-04 9.99898402e-01 -5.35282408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.518623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:261.46, Y:-55.87, Z:-5.36 [[ 9.59232543e-01 2.82259134e-01 1.42376056e-02 2.61457088e+02] [-2.82231075e-01 9.59338180e-01 -3.98468094e-03 -5.58659775e+01] [-1.47833912e-02 -1.96059094e-04 9.99890700e-01 -5.36124245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54862385300004 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:261.49, Y:-55.87, Z:-5.36 [[ 9.58986547e-01 2.83128788e-01 1.35237683e-02 2.61489408e+02] [-2.83103542e-01 9.59081879e-01 -3.78607330e-03 -5.58748726e+01] [-1.40423475e-02 -1.97833350e-04 9.99901382e-01 -5.35547049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.578623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:261.52, Y:-55.88, Z:-5.36 [[ 9.58690265e-01 2.84102661e-01 1.40944346e-02 2.61519900e+02] [-2.84075300e-01 9.58793841e-01 -3.94885335e-03 -5.58831670e+01] [-1.46355369e-02 -2.18153483e-04 9.99892871e-01 -5.36282128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:261.55, Y:-55.89, Z:-5.36 [[ 9.58037806e-01 2.86347678e-01 1.29834378e-02 2.61551813e+02] [-2.86324638e-01 9.58125751e-01 -3.63965857e-03 -5.58909809e+01] [-1.34819738e-02 -2.30547608e-04 9.99909087e-01 -5.36366881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.638623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:261.58, Y:-55.90, Z:-5.36 [[ 9.57420757e-01 2.88409669e-01 1.28591248e-02 2.61584537e+02] [-2.88387222e-01 9.57507075e-01 -3.60725619e-03 -5.58971041e+01] [-1.33530705e-02 -2.54745332e-04 9.99910811e-01 -5.36391440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:261.62, Y:-55.90, Z:-5.36 [[ 9.57174127e-01 2.89212322e-01 1.31880417e-02 2.61616719e+02] [-2.89188751e-01 9.57264937e-01 -3.70221756e-03 -5.59047208e+01] [-1.36951769e-02 -2.70166457e-04 9.99906180e-01 -5.36432109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.698623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:261.65, Y:-55.91, Z:-5.37 [[ 9.57071982e-01 2.89536412e-01 1.34865784e-02 2.61647666e+02] [-2.89511753e-01 9.57166960e-01 -3.78893787e-03 -5.59120238e+01] [-1.40059427e-02 -2.78236686e-04 9.99901873e-01 -5.36532283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:261.68, Y:-55.92, Z:-5.37 [[ 9.57062585e-01 2.89580588e-01 1.32019480e-02 2.61679289e+02] [-2.89556931e-01 9.57153598e-01 -3.71134554e-03 -5.59198996e+01] [-1.37110257e-02 -2.70725599e-04 9.99905963e-01 -5.36553052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.758623853 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:261.71, Y:-55.93, Z:-5.37 [[ 9.57441245e-01 2.88295497e-01 1.38552709e-02 2.61710163e+02] [-2.88269262e-01 9.57541455e-01 -3.89806851e-03 -5.59269040e+01] [-1.43907919e-02 -2.61877160e-04 9.99896413e-01 -5.36624040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78862385300005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:261.74, Y:-55.94, Z:-5.37 [[ 9.57716261e-01 2.87356115e-01 1.43536265e-02 2.61741698e+02] [-2.87327811e-01 9.57823783e-01 -4.04105058e-03 -5.59352421e+01] [-1.49094655e-02 -2.54016237e-04 9.99888815e-01 -5.36726928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.818623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:261.77, Y:-55.94, Z:-5.37 [[ 9.58344317e-01 2.85248144e-01 1.44798233e-02 2.61772360e+02] [-2.85219054e-01 9.58453675e-01 -4.07965526e-03 -5.59425084e+01] [-1.50419539e-02 -2.20207064e-04 9.99886839e-01 -5.36828534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.848623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:261.80, Y:-55.95, Z:-5.37 [[ 9.58558370e-01 2.84544738e-01 1.41471825e-02 2.61803674e+02] [-2.84516853e-01 9.58662741e-01 -3.98860372e-03 -5.59505024e+01] [-1.46973130e-02 -2.01802370e-04 9.99891968e-01 -5.36866483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.878623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:261.84, Y:-55.96, Z:-5.37 [[ 9.58696311e-01 2.84078535e-01 1.41692943e-02 2.61836068e+02] [-2.84050473e-01 9.58800996e-01 -3.99745348e-03 -5.59588028e+01] [-1.47211242e-02 -1.92450847e-04 9.99891620e-01 -5.36934887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.908623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:261.87, Y:-55.96, Z:-5.37 [[ 9.58835405e-01 2.83618505e-01 1.39717702e-02 2.61867752e+02] [-2.83591130e-01 9.58937178e-01 -3.94458859e-03 -5.59648979e+01] [-1.45168082e-02 -1.80058908e-04 9.99894609e-01 -5.37014392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.938623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:261.90, Y:-55.97, Z:-5.37 [[ 9.58865251e-01 2.83520187e-01 1.39188533e-02 2.61899438e+02] [-2.83492971e-01 9.58966252e-01 -3.93225486e-03 -5.59723591e+01] [-1.44625842e-02 -1.75394534e-04 9.99895396e-01 -5.37028454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.968623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:261.93, Y:-55.98, Z:-5.37 [[ 9.59060737e-01 2.82840764e-01 1.42690161e-02 2.61931021e+02] [-2.82812043e-01 9.59166865e-01 -4.03410332e-03 -5.59781265e+01] [-1.48273763e-02 -1.66499472e-04 9.99890055e-01 -5.37053528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.998623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:261.96, Y:-55.99, Z:-5.37 [[ 9.59216315e-01 2.82297792e-01 1.45608062e-02 2.61963212e+02] [-2.82267781e-01 9.59326812e-01 -4.11922425e-03 -5.59860777e+01] [-1.51314197e-02 -1.58819355e-04 9.99885501e-01 -5.37123609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.028623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:262.00, Y:-55.99, Z:-5.37 [[ 9.59384047e-01 2.81714827e-01 1.47988611e-02 2.61995440e+02] [-2.81683711e-01 9.59498168e-01 -4.18961595e-03 -5.59938800e+01] [-1.53797571e-02 -1.49147421e-04 9.99881713e-01 -5.37128028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:262.03, Y:-56.00, Z:-5.37 [[ 9.59790977e-01 2.80293309e-01 1.53929201e-02 2.62027968e+02] [-2.80259408e-01 9.59914394e-01 -4.36117112e-03 -5.60004381e+01] [-1.59982927e-02 -1.28197998e-04 9.99872011e-01 -5.37193021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.088623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:262.06, Y:-56.01, Z:-5.37 [[ 9.60038944e-01 2.79436271e-01 1.55111614e-02 2.62059439e+02] [-2.79401682e-01 9.60164235e-01 -4.39797824e-03 -5.60079541e+01] [-1.61222171e-02 -1.11614206e-04 9.99870022e-01 -5.37228362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:262.09, Y:-56.02, Z:-5.37 [[ 9.60350176e-01 2.78360609e-01 1.55856075e-02 2.62091058e+02] [-2.78325496e-01 9.60476633e-01 -4.42209953e-03 -5.60156100e+01] [-1.62005502e-02 -9.11078850e-05 9.99868758e-01 -5.37304914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.148623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.12, Y:-56.02, Z:-5.37 [[ 9.61183159e-01 2.75458687e-01 1.57938651e-02 2.62123168e+02] [-2.75422183e-01 9.61312910e-01 -4.48449048e-03 -5.60232167e+01] [-1.64181383e-02 -3.95640723e-05 9.99865213e-01 -5.37427408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:262.15, Y:-56.03, Z:-5.37 [[ 9.61665759e-01 2.73772898e-01 1.57279287e-02 2.62153563e+02] [-2.73736419e-01 9.61794365e-01 -4.46904850e-03 -5.60317710e+01] [-1.63505375e-02 -7.57595724e-06 9.99866321e-01 -5.37493928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.208623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:262.19, Y:-56.04, Z:-5.38 [[ 9.61643609e-01 2.73850742e-01 1.57270477e-02 2.62185734e+02] [-2.73814223e-01 9.61772203e-01 -4.47214656e-03 -5.60410634e+01] [-1.63505379e-02 -5.67817453e-06 9.99866321e-01 -5.37558611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:262.22, Y:-56.05, Z:-5.38 [[ 9.62715454e-01 2.70106090e-01 1.48880851e-02 2.62217794e+02] [-2.70072903e-01 9.62830565e-01 -4.23438544e-03 -5.60504949e+01] [-1.54784367e-02 5.56399318e-05 9.99880200e-01 -5.37672798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.268623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:262.25, Y:-56.06, Z:-5.38 [[ 9.63189628e-01 2.68425071e-01 1.46192132e-02 2.62249425e+02] [-2.68392835e-01 9.63300563e-01 -4.16074186e-03 -5.60601272e+01] [-1.51995437e-02 8.38913284e-05 9.99884477e-01 -5.37754129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:262.28, Y:-56.07, Z:-5.38 [[ 9.63684111e-01 2.66667322e-01 1.41941052e-02 2.62281362e+02] [-2.66636703e-01 9.63788632e-01 -4.04249897e-03 -5.60693287e+01] [-1.47581196e-02 1.11022626e-04 9.99891087e-01 -5.37794816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.328623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:262.31, Y:-56.08, Z:-5.38 [[ 9.64280153e-01 2.64499500e-01 1.42759012e-02 2.62312042e+02] [-2.64468240e-01 9.64385811e-01 -4.06909491e-03 -5.60778059e+01] [-1.48437501e-02 1.48224993e-04 9.99889814e-01 -5.37828372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.34, Y:-56.09, Z:-5.38 [[ 9.64357251e-01 2.64219081e-01 1.42607709e-02 2.62343638e+02] [-2.64187834e-01 9.64462676e-01 -4.06628699e-03 -5.60863396e+01] [-1.48283718e-02 1.53831176e-04 9.99890042e-01 -5.37902987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.388623853 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:262.38, Y:-56.10, Z:-5.38 [[ 9.64290039e-01 2.64458960e-01 1.43589090e-02 2.62375314e+02] [-2.64427264e-01 9.64396928e-01 -4.09721533e-03 -5.60952257e+01] [-1.49312331e-02 1.54016897e-04 9.99888511e-01 -5.37987589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:262.41, Y:-56.10, Z:-5.38 [[ 9.64135312e-01 2.65030450e-01 1.42112826e-02 2.62406032e+02] [-2.64999420e-01 9.64240032e-01 -4.05809301e-03 -5.61041613e+01] [-1.47786058e-02 1.46569127e-04 9.99890780e-01 -5.37980881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.448623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:262.44, Y:-56.11, Z:-5.38 [[ 9.63812228e-01 2.66195478e-01 1.43511694e-02 2.62436584e+02] [-2.66163920e-01 9.63919058e-01 -4.10090742e-03 -5.61126326e+01] [-1.49250087e-02 1.32741219e-04 9.99888607e-01 -5.38036948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:262.47, Y:-56.12, Z:-5.38 [[ 9.63513908e-01 2.67272672e-01 1.43620618e-02 2.62468164e+02] [-2.67241146e-01 9.63620934e-01 -4.10670390e-03 -5.61219830e+01] [-1.49371931e-02 1.18732466e-04 9.99888427e-01 -5.38052875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.508623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:262.50, Y:-56.13, Z:-5.38 [[ 9.62962460e-01 2.69249507e-01 1.44223184e-02 2.62499604e+02] [-2.69217894e-01 9.63070452e-01 -4.12685164e-03 -5.61305625e+01] [-1.50008615e-02 9.12570145e-05 9.99887477e-01 -5.38098879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53862385300005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:262.53, Y:-56.14, Z:-5.38 [[ 9.62721140e-01 2.70117658e-01 1.42988751e-02 2.62530864e+02] [-2.70086636e-01 9.62827318e-01 -4.09447929e-03 -5.61390109e+01] [-1.48733388e-02 7.99066847e-05 9.99889383e-01 -5.38159266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.568623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:262.56, Y:-56.15, Z:-5.38 [[ 9.62236560e-01 2.71853219e-01 1.40224681e-02 2.62562883e+02] [-2.71823532e-01 9.62338726e-01 -4.01787678e-03 -5.61469321e+01] [-1.45866369e-02 5.45111145e-05 9.99893608e-01 -5.38283991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.598623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:262.59, Y:-56.16, Z:-5.38 [[ 9.61942402e-01 2.72900839e-01 1.38544929e-02 2.62593442e+02] [-2.72871927e-01 9.62042167e-01 -3.97256962e-03 -5.61554647e+01] [-1.44127239e-02 4.08810072e-05 9.99896130e-01 -5.38344641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.628623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:262.62, Y:-56.16, Z:-5.38 [[ 9.61655544e-01 2.73896709e-01 1.41140777e-02 2.62624827e+02] [-2.73866771e-01 9.61759113e-01 -4.04967370e-03 -5.61641961e+01] [-1.46835351e-02 2.90142817e-05 9.99892191e-01 -5.38436488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.658623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:262.66, Y:-56.17, Z:-5.38 [[ 9.61299212e-01 2.75148664e-01 1.40370371e-02 2.62655409e+02] [-2.75119143e-01 9.61401692e-01 -4.03041717e-03 -5.61731808e+01] [-1.46041951e-02 1.25792218e-05 9.99893353e-01 -5.38485293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.688623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:262.69, Y:-56.18, Z:-5.39 [[ 9.60352190e-01 2.78437415e-01 1.40098849e-02 2.62686071e+02] [-2.78408320e-01 9.60454374e-01 -4.02523915e-03 -5.61807908e+01] [-1.45766324e-02 -3.48212844e-05 9.99893755e-01 -5.38560837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.718623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:262.72, Y:-56.19, Z:-5.39 [[ 9.59782467e-01 2.80400077e-01 1.39072956e-02 2.62716698e+02] [-2.80371576e-01 9.59883218e-01 -3.99834397e-03 -5.61882345e+01] [-1.44705156e-02 -6.16699350e-05 9.99895295e-01 -5.38606790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.748623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:262.75, Y:-56.19, Z:-5.39 [[ 9.58675022e-01 2.84153389e-01 1.41086598e-02 2.62748756e+02] [-2.84124422e-01 9.58778826e-01 -4.05892286e-03 -5.61944916e+01] [-1.46804409e-02 -1.17426841e-04 9.99892230e-01 -5.38669596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.778623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.78, Y:-56.20, Z:-5.39 [[ 9.58285624e-01 2.85475293e-01 1.38751546e-02 2.62779508e+02] [-2.85447373e-01 9.58386060e-01 -3.99473925e-03 -5.62018486e+01] [-1.44381541e-02 -1.32525223e-04 9.99895756e-01 -5.38694491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80862385300003 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:262.81, Y:-56.21, Z:-5.38 [[ 9.57826121e-01 2.87040181e-01 1.33062888e-02 2.62809448e+02] [-2.87014648e-01 9.57918531e-01 -3.83139154e-03 -5.62093688e+01] [-1.38461039e-02 -1.49292906e-04 9.99904127e-01 -5.37964799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.838623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:262.84, Y:-56.22, Z:-5.39 [[ 9.57276298e-01 2.88852196e-01 1.36564458e-02 2.62842224e+02] [-2.88825501e-01 9.57373687e-01 -3.93120741e-03 -5.62157491e+01] [-1.42098598e-02 -1.81078132e-04 9.99899018e-01 -5.38886588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:262.87, Y:-56.22, Z:-5.39 [[ 9.56978542e-01 2.89838947e-01 1.36181973e-02 2.62874597e+02] [-2.89812460e-01 9.57075414e-01 -3.92299714e-03 -5.62240209e+01] [-1.41706792e-02 -1.92499190e-04 9.99899572e-01 -5.38973461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.898623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:262.91, Y:-56.23, Z:-5.39 [[ 9.56669516e-01 2.90860974e-01 1.35400131e-02 2.62906434e+02] [-2.90834854e-01 9.56765307e-01 -3.90324872e-03 -5.62317359e+01] [-1.40899175e-02 -2.03788678e-04 9.99900711e-01 -5.39003632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:262.94, Y:-56.24, Z:-5.39 [[ 9.56406660e-01 2.91721573e-01 1.35950350e-02 2.62936609e+02] [-2.91695285e-01 9.56503256e-01 -3.92211834e-03 -5.62386682e+01] [-1.41478617e-02 -2.14467494e-04 9.99899891e-01 -5.39057621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:262.97, Y:-56.24, Z:-5.39 [[ 9.56036908e-01 2.92906642e-01 1.41113244e-02 2.62968703e+02] [-2.92878413e-01 9.56141016e-01 -4.07346525e-03 -5.62441018e+01] [-1.46855611e-02 -2.38519189e-04 9.99892133e-01 -5.39128679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:263.00, Y:-56.25, Z:-5.39 [[ 9.55984763e-01 2.93090867e-01 1.38157827e-02 2.62999575e+02] [-2.93063782e-01 9.56084562e-01 -3.99129576e-03 -5.62511821e+01] [-1.43788689e-02 -2.33287605e-04 9.99896592e-01 -5.39162611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.018623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:263.03, Y:-56.26, Z:-5.39 [[ 9.56149670e-01 2.92569923e-01 1.34405729e-02 2.63029869e+02] [-2.92544233e-01 9.56244107e-01 -3.88329672e-03 -5.62571574e+01] [-1.39886045e-02 -2.18949216e-04 9.99902131e-01 -5.39244696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.06, Y:-56.26, Z:-5.39 [[ 9.56343760e-01 2.91926144e-01 1.36286037e-02 2.63060740e+02] [-2.91899662e-01 9.56440840e-01 -3.93773798e-03 -5.62643830e+01] [-1.41844819e-02 -2.12353684e-04 9.99899373e-01 -5.39357518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.078623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.09, Y:-56.27, Z:-5.39 [[ 9.56639179e-01 2.90964354e-01 1.34619974e-02 2.63091569e+02] [-2.90938416e-01 9.56733874e-01 -3.88993658e-03 -5.62712699e+01] [-1.40113819e-02 -1.95346479e-04 9.99901817e-01 -5.39454902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10862385300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:263.12, Y:-56.28, Z:-5.40 [[ 9.57447575e-01 2.88299077e-01 1.33335111e-02 2.63122193e+02] [-2.88273368e-01 9.57540400e-01 -3.85314670e-03 -5.62766147e+01] [-1.38782342e-02 -1.54510201e-04 9.99903681e-01 -5.39568556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.138623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:263.15, Y:-56.28, Z:-5.40 [[ 9.57926386e-01 2.86709440e-01 1.32187979e-02 2.63152200e+02] [-2.86684014e-01 9.58017578e-01 -3.82046824e-03 -5.62837878e+01] [-1.37592051e-02 -1.29890704e-04 9.99905329e-01 -5.39625861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:263.18, Y:-56.29, Z:-5.39 [[ 9.58899679e-01 2.83454112e-01 1.28519072e-02 2.63183449e+02] [-2.83429788e-01 9.58985797e-01 -3.71428278e-03 -5.62901409e+01] [-1.33776252e-02 -8.09887486e-05 9.99910512e-01 -5.39337914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.198623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:263.21, Y:-56.30, Z:-5.40 [[ 9.59508149e-01 2.81366285e-01 1.33088255e-02 2.63213160e+02] [-2.81339996e-01 9.59600443e-01 -3.84650815e-03 -5.62971547e+01] [-1.38534326e-02 -5.35490088e-05 9.99904035e-01 -5.39726188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.24, Y:-56.30, Z:-5.40 [[ 9.60123610e-01 2.79243329e-01 1.36314772e-02 2.63242825e+02] [-2.79215519e-01 9.60220372e-01 -3.94094182e-03 -5.63042898e+01] [-1.41897039e-02 -2.23287130e-05 9.99899321e-01 -5.39807028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.27, Y:-56.31, Z:-5.40 [[ 9.61437602e-01 2.74678313e-01 1.37681529e-02 2.63273124e+02] [-2.74649476e-01 9.61536178e-01 -3.98033089e-03 -5.63117157e+01] [-1.43318877e-02 4.54238089e-05 9.99897292e-01 -5.39858750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:263.30, Y:-56.32, Z:-5.40 [[ 9.62092845e-01 2.72376962e-01 1.37166876e-02 2.63302374e+02] [-2.72348100e-01 9.62190617e-01 -3.96587263e-03 -5.63201528e+01] [-1.42782804e-02 7.98238755e-05 9.99898057e-01 -5.39882211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.318623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:263.33, Y:-56.33, Z:-5.40 [[ 9.63449752e-01 2.67513597e-01 1.41792676e-02 2.63332422e+02] [-2.67482226e-01 9.63554073e-01 -4.09975534e-03 -5.63277189e+01] [-1.47592313e-02 1.57206206e-04 9.99891064e-01 -5.39950550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.348623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:263.36, Y:-56.34, Z:-5.40 [[ 9.64029802e-01 2.65414369e-01 1.42039867e-02 2.63362527e+02] [-2.65382656e-01 9.64134418e-01 -4.10726713e-03 -5.63362985e+01] [-1.47846801e-02 1.90036218e-04 9.99890683e-01 -5.39980506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.378623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.39, Y:-56.34, Z:-5.40 [[ 9.64622716e-01 2.63262179e-01 1.40014498e-02 2.63391309e+02] [-2.63231130e-01 9.64724301e-01 -4.04911366e-03 -5.63447596e+01] [-1.45735173e-02 2.20249573e-04 9.99893776e-01 -5.40036687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.408623853 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:263.42, Y:-56.35, Z:-5.40 [[ 9.65129125e-01 2.61388960e-01 1.41980108e-02 2.63421543e+02] [-2.61356839e-01 9.65233520e-01 -4.10541853e-03 -5.63541525e+01] [-1.47775070e-02 2.51511777e-04 9.99890775e-01 -5.40135133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:-56.36, Z:-5.40 [[ 9.65918775e-01 2.58466650e-01 1.39968215e-02 2.63451535e+02] [-2.58435089e-01 9.66020137e-01 -4.04977247e-03 -5.63643728e+01] [-1.45679426e-02 2.94481449e-04 9.99893839e-01 -5.40180875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.468623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.48, Y:-56.37, Z:-5.40 [[ 9.66161089e-01 2.57561050e-01 1.39662125e-02 2.63481716e+02] [-2.57529500e-01 9.66261978e-01 -4.04318973e-03 -5.63744999e+01] [-1.45363883e-02 3.09660889e-04 9.99894293e-01 -5.40288168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.498623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:263.51, Y:-56.38, Z:-5.40 [[ 9.66472308e-01 2.56396672e-01 1.38572813e-02 2.63511511e+02] [-2.56365456e-01 9.66571591e-01 -4.01413966e-03 -5.63848820e+01] [-1.44232664e-02 3.27026599e-04 9.99895926e-01 -5.40325110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.528623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.54, Y:-56.39, Z:-5.40 [[ 9.66431982e-01 2.56544398e-01 1.39354268e-02 2.63541363e+02] [-2.56512802e-01 9.66532391e-01 -4.03971128e-03 -5.63943660e+01] [-1.45054066e-02 3.29490813e-04 9.99894737e-01 -5.40386981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.57, Y:-56.40, Z:-5.41 [[ 9.66123099e-01 2.57731769e-01 1.34347595e-02 2.63570918e+02] [-2.57702513e-01 9.66216458e-01 -3.89489195e-03 -5.64041799e+01] [-1.39847232e-02 3.00773786e-04 9.99902164e-01 -5.40525084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.588623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.60, Y:-56.41, Z:-5.41 [[ 9.65823118e-01 2.58895880e-01 1.25947971e-02 2.63599983e+02] [-2.58870262e-01 9.65905199e-01 -3.65173637e-03 -5.64132321e+01] [-1.31107995e-02 2.66512978e-04 9.99914014e-01 -5.40597850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61862385300003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:263.63, Y:-56.42, Z:-5.41 [[ 9.65515561e-01 2.60067515e-01 1.20245021e-02 2.63628692e+02] [-2.60044252e-01 9.65590405e-01 -3.48660377e-03 -5.64221695e+01] [-1.25174962e-02 2.39467548e-04 9.99921624e-01 -5.40653070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.648623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.66, Y:-56.43, Z:-5.40 [[ 9.65007548e-01 2.61962604e-01 1.16630409e-02 2.63656405e+02] [-2.61940855e-01 9.65078002e-01 -3.38204875e-03 -5.64308679e+01] [-1.21417145e-02 2.08675667e-04 9.99926265e-01 -5.40135346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67862385300003 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:263.68, Y:-56.44, Z:-5.40 [[ 9.63898945e-01 2.66008567e-01 1.17586336e-02 2.63683156e+02] [-2.65986765e-01 9.63970652e-01 -3.40932721e-03 -5.64402158e+01] [-1.22418879e-02 1.58605990e-04 9.99925053e-01 -5.39884324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.708623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:263.71, Y:-56.45, Z:-5.41 [[ 9.63299197e-01 2.68118251e-01 1.29329380e-02 2.63710094e+02] [-2.68092074e-01 9.63385999e-01 -3.74933198e-03 -5.64486166e+01] [-1.34646757e-02 1.44510328e-04 9.99909337e-01 -5.40795494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:263.74, Y:-56.46, Z:-5.41 [[ 9.62667155e-01 2.70377705e-01 1.29554928e-02 2.63737700e+02] [-2.70351649e-01 9.62754322e-01 -3.75523702e-03 -5.64570652e+01] [-1.34882890e-02 1.12504509e-04 9.99909023e-01 -5.40779224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.76, Y:-56.47, Z:-5.41 [[ 9.62082039e-01 2.72440324e-01 1.32068145e-02 2.63764865e+02] [-2.72413450e-01 9.62172678e-01 -3.82743074e-03 -5.64651500e+01] [-1.37499825e-02 8.45884750e-05 9.99905461e-01 -5.40803311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.79, Y:-56.47, Z:-5.41 [[ 9.61094746e-01 2.75889330e-01 1.34894951e-02 2.63792018e+02] [-2.75861641e-01 9.61189407e-01 -3.90874596e-03 -5.64725859e+01] [-1.40443411e-02 3.54409596e-05 9.99901373e-01 -5.40889400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.828623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.82, Y:-56.48, Z:-5.41 [[ 9.60714571e-01 2.77217225e-01 1.33462967e-02 2.63819541e+02] [-2.77190262e-01 9.60807270e-01 -3.86640080e-03 -5.64806158e+01] [-1.38950518e-02 1.50440995e-05 9.99903459e-01 -5.40966343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.85, Y:-56.49, Z:-5.41 [[ 9.60419365e-01 2.78254125e-01 1.30109440e-02 2.63846881e+02] [-2.78228602e-01 9.60507492e-01 -3.76865385e-03 -5.64891416e+01] [-1.35457527e-02 -5.28630266e-07 9.99908252e-01 -5.41072231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.888623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.87, Y:-56.50, Z:-5.41 [[ 9.60033596e-01 2.79586070e-01 1.29276301e-02 2.63873979e+02] [-2.79561002e-01 9.60120633e-01 -3.74391840e-03 -5.64991744e+01] [-1.34588318e-02 -1.97737863e-05 9.99909426e-01 -5.41117896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.90, Y:-56.51, Z:-5.41 [[ 9.59875375e-01 2.80124714e-01 1.30156950e-02 2.63900371e+02] [-2.80099361e-01 9.59963616e-01 -3.76886542e-03 -5.65075447e+01] [-1.35503460e-02 -2.80467569e-05 9.99908189e-01 -5.41164863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.948623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:263.93, Y:-56.52, Z:-5.41 [[ 9.59696925e-01 2.80727288e-01 1.31909978e-02 2.63927053e+02] [-2.80701315e-01 9.59787575e-01 -3.81883259e-03 -5.65155591e+01] [-1.37326063e-02 -3.78085269e-05 9.99905703e-01 -5.41200353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:263.96, Y:-56.52, Z:-5.41 [[ 9.59025514e-01 2.83001715e-01 1.34198269e-02 2.63955096e+02] [-2.82975068e-01 9.59119400e-01 -3.88421841e-03 -5.65240313e+01] [-1.39704568e-02 -7.24118822e-05 9.99902406e-01 -5.41221283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.008623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.98, Y:-56.53, Z:-5.41 [[ 9.58584159e-01 2.84489336e-01 1.34991621e-02 2.63984042e+02] [-2.84462532e-01 9.58679200e-01 -3.90631631e-03 -5.65324685e+01] [-1.40526712e-02 -9.54728799e-05 9.99901252e-01 -5.41243539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03862385300005 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:264.01, Y:-56.54, Z:-5.41 [[ 9.57804767e-01 2.87115627e-01 1.32153372e-02 2.64014815e+02] [-2.87090202e-01 9.57895923e-01 -3.82321201e-03 -5.65414890e+01] [-1.37566215e-02 -1.32103119e-04 9.99905364e-01 -5.41399383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.04, Y:-56.55, Z:-5.41 [[ 9.57507487e-01 2.88114967e-01 1.30068466e-02 2.64044407e+02] [-2.88090397e-01 9.57595815e-01 -3.76529531e-03 -5.65513098e+01] [-1.35401398e-02 -1.41849153e-04 9.99908318e-01 -5.41496622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09862385300005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.07, Y:-56.56, Z:-5.42 [[ 9.57427020e-01 2.88387949e-01 1.28799192e-02 2.64071440e+02] [-2.88363836e-01 9.57513640e-01 -3.73191816e-03 -5.65601598e+01] [-1.34089385e-02 -1.41063628e-04 9.99910086e-01 -5.41533765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.128623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.10, Y:-56.57, Z:-5.42 [[ 9.57436084e-01 2.88357848e-01 1.28800931e-02 2.64099636e+02] [-2.88333740e-01 9.57522706e-01 -3.73131787e-03 -5.65682371e+01] [-1.34089364e-02 -1.41267042e-04 9.99910086e-01 -5.41590351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.158623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.13, Y:-56.58, Z:-5.42 [[ 9.57410080e-01 2.88430111e-01 1.31912738e-02 2.64129185e+02] [-2.88404841e-01 9.57500940e-01 -3.82068372e-03 -5.65778546e+01] [-1.37326573e-02 -1.46466116e-04 9.99905692e-01 -5.41623312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.188623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:264.16, Y:-56.59, Z:-5.41 [[ 9.57561651e-01 2.87875947e-01 1.42521603e-02 2.64157783e+02] [-2.87846382e-01 9.57667696e-01 -4.12840991e-03 -5.65870717e+01] [-1.48373035e-02 -1.49225771e-04 9.99889910e-01 -5.40872501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.19, Y:-56.60, Z:-5.42 [[ 9.57662028e-01 2.87501965e-01 1.50352923e-02 2.64188453e+02] [-2.87469021e-01 9.57780036e-01 -4.35488322e-03 -5.65967394e+01] [-1.56525403e-02 -1.51674460e-04 9.99877480e-01 -5.41659253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.248623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:264.22, Y:-56.61, Z:-5.41 [[ 9.57729324e-01 2.87313828e-01 1.43285301e-02 2.64217868e+02] [-2.87283850e-01 9.57836492e-01 -4.15262427e-03 -5.66061004e+01] [-1.49174954e-02 -1.39265273e-04 9.99888718e-01 -5.40753615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.25, Y:-56.62, Z:-5.42 [[ 9.57751964e-01 2.87229583e-01 1.45032000e-02 2.64248221e+02] [-2.87198825e-01 9.57861758e-01 -4.20562799e-03 -5.66166818e+01] [-1.51000414e-02 -1.37353531e-04 9.99885978e-01 -5.41819693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:264.28, Y:-56.63, Z:-5.42 [[ 9.57709341e-01 2.87396465e-01 1.40032274e-02 2.64278225e+02] [-2.87367769e-01 9.57811701e-01 -4.06336287e-03 -5.66259334e+01] [-1.45802512e-02 -1.32555629e-04 9.99893694e-01 -5.41909146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.338623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.31, Y:-56.64, Z:-5.42 [[ 9.57612254e-01 2.87747420e-01 1.34236297e-02 2.64307527e+02] [-2.87721061e-01 9.57706325e-01 -3.89686928e-03 -5.66350528e+01] [-1.39772091e-02 -1.30571193e-04 9.99902306e-01 -5.42002510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36862385300003 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:264.34, Y:-56.64, Z:-5.41 [[ 9.57311288e-01 2.88822477e-01 1.16907747e-02 2.64336826e+02] [-2.88802562e-01 9.57382662e-01 -3.39402462e-03 -5.66435334e+01] [-1.21728156e-02 -1.27187612e-04 9.99925900e-01 -5.41145373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.37, Y:-56.65, Z:-5.42 [[ 9.57133209e-01 2.89403914e-01 1.18909577e-02 2.64366575e+02] [-2.89383358e-01 9.57207060e-01 -3.45197267e-03 -5.66517069e+01] [-1.23811231e-02 -1.37047608e-04 9.99923342e-01 -5.42148916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.40, Y:-56.66, Z:-5.42 [[ 9.56769119e-01 2.90615318e-01 1.16443231e-02 2.64395501e+02] [-2.90595689e-01 9.56839963e-01 -3.38092168e-03 -5.66591732e+01] [-1.21243013e-02 -1.49028634e-04 9.99926487e-01 -5.42287541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.458623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.42, Y:-56.67, Z:-5.42 [[ 9.56624699e-01 2.91086194e-01 1.17479021e-02 2.64424304e+02] [-2.91066251e-01 9.56696819e-01 -3.41092677e-03 -5.66671133e+01] [-1.22320543e-02 -1.56441035e-04 9.99925173e-01 -5.42351330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.45, Y:-56.67, Z:-5.42 [[ 9.56567320e-01 2.91268887e-01 1.18911146e-02 2.64452046e+02] [-2.91248471e-01 9.56641213e-01 -3.45228862e-03 -5.66743631e+01] [-1.23810746e-02 -1.60922480e-04 9.99923339e-01 -5.42366444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.518623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.48, Y:-56.68, Z:-5.42 [[ 9.56563747e-01 2.91282911e-01 1.18348257e-02 2.64481559e+02] [-2.91262697e-01 9.56636943e-01 -3.43526313e-03 -5.66823183e+01] [-1.23222650e-02 -1.60995095e-04 9.99924065e-01 -5.41695561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.51, Y:-56.69, Z:-5.42 [[ 9.56659090e-01 2.90909117e-01 1.32389828e-02 2.64511455e+02] [-2.90883789e-01 9.56750675e-01 -3.84270918e-03 -5.66912783e+01] [-1.37842848e-02 -1.74842794e-04 9.99904977e-01 -5.42484285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.578623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.54, Y:-56.70, Z:-5.43 [[ 9.56758953e-01 2.90578946e-01 1.32733274e-02 2.64542053e+02] [-2.90553461e-01 9.56851005e-01 -3.85220790e-03 -5.67006455e+01] [-1.38199672e-02 -1.70976827e-04 9.99904485e-01 -5.42502150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.57, Y:-56.71, Z:-5.43 [[ 9.56885417e-01 2.90149780e-01 1.35426635e-02 2.64571554e+02] [-2.90123171e-01 9.56981232e-01 -3.93294354e-03 -5.67090333e+01] [-1.41012175e-02 -1.65664160e-04 9.99900559e-01 -5.42528668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.638623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.60, Y:-56.72, Z:-5.43 [[ 9.57332544e-01 2.88678253e-01 1.33890780e-02 2.64600306e+02] [-2.88652056e-01 9.57426157e-01 -3.89150091e-03 -5.67161444e+01] [-1.39424452e-02 -1.39324427e-04 9.99902790e-01 -5.42598545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:264.63, Y:-56.72, Z:-5.43 [[ 9.57591530e-01 2.87822611e-01 1.32893359e-02 2.64630080e+02] [-2.87796728e-01 9.57683731e-01 -3.86193046e-03 -5.67244433e+01] [-1.38385317e-02 -1.26475487e-04 9.99904235e-01 -5.42663929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.698623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:264.66, Y:-56.73, Z:-5.43 [[ 9.57990905e-01 2.86506694e-01 1.29359748e-02 2.64660973e+02] [-2.86482057e-01 9.58078234e-01 -3.75869096e-03 -5.67332210e+01] [-1.34705660e-02 -1.05132922e-04 9.99909262e-01 -5.42777274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:264.69, Y:-56.74, Z:-5.43 [[ 9.58203723e-01 2.85813760e-01 1.24947883e-02 2.64690623e+02] [-2.85790688e-01 9.58285180e-01 -3.63272783e-03 -5.67417130e+01] [-1.30118541e-02 -9.00008094e-05 9.99915338e-01 -5.42833274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.758623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:264.72, Y:-56.75, Z:-5.43 [[ 9.58363444e-01 2.85284752e-01 1.23336583e-02 2.64719747e+02] [-2.85262188e-01 9.58442802e-01 -3.58886434e-03 -5.67504641e+01] [-1.28449543e-02 -7.88899480e-05 9.99917497e-01 -5.42932174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78862385300005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.75, Y:-56.76, Z:-5.43 [[ 9.58529781e-01 2.84733903e-01 1.21352269e-02 2.64749481e+02] [-2.84712015e-01 9.58606593e-01 -3.53119043e-03 -5.67592737e+01] [-1.26383582e-02 -7.02937232e-05 9.99920130e-01 -5.42965704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.818623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:264.78, Y:-56.77, Z:-5.42 [[ 9.58642603e-01 2.84354668e-01 1.21153946e-02 2.64778391e+02] [-2.84332816e-01 9.58719155e-01 -3.52581365e-03 -5.67675709e+01] [-1.26178424e-02 -6.48090840e-05 9.99920390e-01 -5.42367496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:264.81, Y:-56.78, Z:-5.43 [[ 9.58620800e-01 2.84384522e-01 1.30998092e-02 2.64807485e+02] [-2.84358978e-01 9.58710300e-01 -3.81221710e-03 -5.67762031e+01] [-1.36430575e-02 -7.05777294e-05 9.99906927e-01 -5.43058471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.878623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:264.84, Y:-56.78, Z:-5.43 [[ 9.58709903e-01 2.84083359e-01 1.31136600e-02 2.64836844e+02] [-2.84057717e-01 9.58799583e-01 -3.81739671e-03 -5.67846176e+01] [-1.36578306e-02 -6.52602975e-05 9.99906725e-01 -5.43100189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.908623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:264.87, Y:-56.79, Z:-5.43 [[ 9.58680397e-01 2.84187368e-01 1.30167757e-02 2.64868196e+02] [-2.84162129e-01 9.58768760e-01 -3.78802923e-03 -5.67936091e+01] [-1.35565879e-02 -6.73653146e-05 9.99908103e-01 -5.43153902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.938623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.90, Y:-56.80, Z:-5.43 [[ 9.58658115e-01 2.84284874e-01 1.25191467e-02 2.64899155e+02] [-2.84261502e-01 9.58739853e-01 -3.64579910e-03 -5.68019001e+01] [-1.30390504e-02 -6.36365427e-05 9.99914986e-01 -5.43256700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.968623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.93, Y:-56.81, Z:-5.43 [[ 9.58549949e-01 2.84653280e-01 1.24299950e-02 2.64926689e+02] [-2.84630222e-01 9.58630537e-01 -3.62361572e-03 -5.68085198e+01] [-1.29472468e-02 -6.45355647e-05 9.99916179e-01 -5.43370833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.998623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:264.95, Y:-56.82, Z:-5.43 [[ 9.58404185e-01 2.85149540e-01 1.22946140e-02 2.64954440e+02] [-2.85127026e-01 9.58483038e-01 -3.58389318e-03 -5.68156586e+01] [-1.28061245e-02 -7.07084948e-05 9.99917996e-01 -5.43414722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.028623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.98, Y:-56.82, Z:-5.43 [[ 9.58241787e-01 2.85692570e-01 1.23463580e-02 2.64983059e+02] [-2.85669918e-01 9.58321318e-01 -3.59844073e-03 -5.68226050e+01] [-1.28598258e-02 -7.88067982e-05 9.99917306e-01 -5.43459729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05862385300003 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:265.01, Y:-56.83, Z:-5.43 [[ 9.57677052e-01 2.87566160e-01 1.26636655e-02 2.65012790e+02] [-2.87542498e-01 9.57760770e-01 -3.69045468e-03 -5.68292906e+01] [-1.31900119e-02 -1.07078249e-04 9.99913002e-01 -5.43481938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.088623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:265.04, Y:-56.84, Z:-5.43 [[ 9.57415113e-01 2.88435727e-01 1.26938119e-02 2.65040479e+02] [-2.88412026e-01 9.57499252e-01 -3.69946332e-03 -5.68359610e+01] [-1.32213728e-02 -1.19125914e-04 9.99912587e-01 -5.43489740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:265.07, Y:-56.84, Z:-5.44 [[ 9.57122249e-01 2.89398550e-01 1.28639177e-02 2.65068330e+02] [-2.89374303e-01 9.57208682e-01 -3.74859593e-03 -5.68421856e+01] [-1.33982920e-02 -1.34622658e-04 9.99910230e-01 -5.43549648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.148623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.10, Y:-56.85, Z:-5.44 [[ 9.56424444e-01 2.91687712e-01 1.30599665e-02 2.65097240e+02] [-2.91662941e-01 9.56513591e-01 -3.80508000e-03 -5.68459828e+01] [-1.36019305e-02 -1.69836718e-04 9.99907475e-01 -5.43586510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.12, Y:-56.85, Z:-5.44 [[ 9.56144948e-01 2.92601276e-01 1.30894026e-02 2.65124546e+02] [-2.92576488e-01 9.56234521e-01 -3.81306660e-03 -5.68517346e+01] [-1.36322468e-02 -1.83807088e-04 9.99907060e-01 -5.43657024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.208623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:265.15, Y:-56.86, Z:-5.44 [[ 9.55993851e-01 2.93092627e-01 1.31327294e-02 2.65153234e+02] [-2.93067733e-01 9.56084031e-01 -3.82479640e-03 -5.68578854e+01] [-1.36770125e-02 -1.92297386e-04 9.99906447e-01 -5.43697041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23862385300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:265.18, Y:-56.86, Z:-5.44 [[ 9.55844478e-01 2.93568841e-01 1.33667221e-02 2.65181956e+02] [-2.93543108e-01 9.55937913e-01 -3.89225875e-03 -5.68640452e+01] [-1.39204023e-02 -2.03315097e-04 9.99903086e-01 -5.43753746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.268623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.21, Y:-56.87, Z:-5.44 [[ 9.55704136e-01 2.94038317e-01 1.30794546e-02 2.65209618e+02] [-2.94013730e-01 9.55793610e-01 -3.80804092e-03 -5.68671257e+01] [-1.36209691e-02 -2.06178767e-04 9.99907209e-01 -5.43806315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:265.24, Y:-56.87, Z:-5.44 [[ 9.55718064e-01 2.93992989e-01 1.30807003e-02 2.65238178e+02] [-2.93968405e-01 9.55807554e-01 -3.80752101e-03 -5.68728883e+01] [-1.36220167e-02 -2.06396009e-04 9.99907195e-01 -5.43910118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.328623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:265.27, Y:-56.88, Z:-5.44 [[ 9.55720210e-01 2.93975480e-01 1.33153357e-02 2.65266935e+02] [-2.93950013e-01 9.55812938e-01 -3.87514146e-03 -5.68789465e+01] [-1.38661667e-02 -2.10492083e-04 9.99903838e-01 -5.43963879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.30, Y:-56.88, Z:-5.44 [[ 9.55739682e-01 2.93896648e-01 1.36535824e-02 2.65295479e+02] [-2.93869874e-01 9.55837180e-01 -3.97285685e-03 -5.68831224e+01] [-1.42182110e-02 -2.15359586e-04 9.99898893e-01 -5.43990159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.388623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:265.32, Y:-56.89, Z:-5.44 [[ 9.55769697e-01 2.93802002e-01 1.35893238e-02 2.65322559e+02] [-2.93775479e-01 9.55866276e-01 -3.95352750e-03 -5.68887014e+01] [-1.41511306e-02 -2.13548324e-04 9.99899845e-01 -5.44027842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.35, Y:-56.89, Z:-5.44 [[ 9.56020281e-01 2.92989865e-01 1.34967544e-02 2.65351210e+02] [-2.92963631e-01 9.56115526e-01 -3.92580173e-03 -5.68915865e+01] [-1.40546766e-02 -2.00912113e-04 9.99901208e-01 -5.44088070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.448623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.38, Y:-56.90, Z:-5.44 [[ 9.56202527e-01 2.92377054e-01 1.38703003e-02 2.65378562e+02] [-2.92349300e-01 9.56303100e-01 -4.03330594e-03 -5.68968967e+01] [-1.44434573e-02 -1.98315256e-04 9.99895668e-01 -5.44151188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.41, Y:-56.90, Z:-5.44 [[ 9.56498245e-01 2.91401397e-01 1.40119203e-02 2.65406185e+02] [-2.91372982e-01 9.56600853e-01 -4.07363518e-03 -5.69019369e+01] [-1.45908779e-02 -1.86270086e-04 9.99893530e-01 -5.44192375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.508623853 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:265.44, Y:-56.90, Z:-5.43 [[ 9.57113583e-01 2.89374154e-01 1.40066950e-02 2.65435218e+02] [-2.89345557e-01 9.57216054e-01 -4.07111624e-03 -5.69045754e+01] [-1.45855092e-02 -1.56254324e-04 9.99893614e-01 -5.43462568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53862385300005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.46, Y:-56.91, Z:-5.44 [[ 9.57490040e-01 2.88086485e-01 1.47986297e-02 2.65462051e+02] [-2.88054428e-01 9.57604384e-01 -4.30010088e-03 -5.69103987e+01] [-1.54100337e-02 -1.45507049e-04 9.99881248e-01 -5.44358840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.568623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:265.49, Y:-56.92, Z:-5.44 [[ 9.57801121e-01 2.87057214e-01 1.46686566e-02 2.65489424e+02] [-2.87025614e-01 9.57913430e-01 -4.26116573e-03 -5.69162216e+01] [-1.52745015e-02 -1.28930844e-04 9.99883330e-01 -5.44365788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59862385300005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:265.52, Y:-56.92, Z:-5.44 [[ 9.58467996e-01 2.84859054e-01 1.39435000e-02 2.65516597e+02] [-2.84830279e-01 9.58569409e-01 -4.04978246e-03 -5.69178752e+01] [-1.45194297e-02 -8.99441128e-05 9.99894583e-01 -5.44479117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.54, Y:-56.92, Z:-5.45 [[ 9.58730687e-01 2.83981493e-01 1.37833635e-02 2.65543905e+02] [-2.83953303e-01 9.58829758e-01 -4.00203575e-03 -5.69224131e+01] [-1.43524032e-02 -7.69571148e-05 9.99896996e-01 -5.44584028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.658623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:265.57, Y:-56.92, Z:-5.45 [[ 9.59155365e-01 2.82551563e-01 1.36235240e-02 2.65572048e+02] [-2.82523892e-01 9.59252110e-01 -3.95468832e-03 -5.69236112e+01] [-1.41857975e-02 -5.58104926e-05 9.99899375e-01 -5.44657723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.688623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:265.60, Y:-56.93, Z:-5.45 [[ 9.59372344e-01 2.81812024e-01 1.36633811e-02 2.65598877e+02] [-2.81784132e-01 9.59469635e-01 -3.96507580e-03 -5.69278269e+01] [-1.42270054e-02 -4.61399321e-05 9.99898790e-01 -5.44675643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.63, Y:-56.93, Z:-5.45 [[ 9.59626897e-01 2.80929300e-01 1.39623527e-02 2.65626985e+02] [-2.80900099e-01 9.59728465e-01 -4.05056877e-03 -5.69320245e+01] [-1.45379908e-02 -3.49915190e-05 9.99894317e-01 -5.44755080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.748623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:265.65, Y:-56.93, Z:-5.45 [[ 9.60366715e-01 2.78371813e-01 1.43145315e-02 2.65654787e+02] [-2.78340852e-01 9.60473390e-01 -4.15165810e-03 -5.69332957e+01] [-1.49044312e-02 2.79535115e-06 9.99888923e-01 -5.44828806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.68, Y:-56.94, Z:-5.45 [[ 9.60970940e-01 2.76290352e-01 1.40887919e-02 2.65681385e+02] [-2.76260151e-01 9.61074212e-01 -4.08514764e-03 -5.69378368e+01] [-1.46690614e-02 3.35363909e-05 9.99892403e-01 -5.44893037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:265.71, Y:-56.94, Z:-5.45 [[ 9.61612069e-01 2.74042940e-01 1.42371171e-02 2.65709363e+02] [-2.74011885e-01 9.61717455e-01 -4.12603466e-03 -5.69431508e+01] [-1.48227947e-02 6.65054234e-05 9.99890134e-01 -5.44983713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.838623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.74, Y:-56.95, Z:-5.45 [[ 9.62383492e-01 2.71335732e-01 1.39618718e-02 2.65736382e+02] [-2.71305596e-01 9.62484758e-01 -4.04524432e-03 -5.69484566e+01] [-1.45357081e-02 1.05142398e-04 9.99894345e-01 -5.45024920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86862385300003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:265.76, Y:-56.95, Z:-5.44 [[ 9.64089691e-01 2.65234154e-01 1.34874339e-02 2.65763545e+02] [-2.65205451e-01 9.64184011e-01 -3.90658089e-03 -5.69528151e+01] [-1.40405268e-02 1.89353380e-04 9.99901409e-01 -5.44301637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.898623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.79, Y:-56.96, Z:-5.45 [[ 9.65004300e-01 2.61856684e-01 1.40633893e-02 2.65791019e+02] [-2.61825138e-01 9.65106738e-01 -4.07202878e-03 -5.69596110e+01] [-1.46389597e-02 2.47376445e-04 9.99892814e-01 -5.45211312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.82, Y:-56.97, Z:-5.45 [[ 9.66648423e-01 2.55730736e-01 1.38786818e-02 2.65817280e+02] [-2.55699394e-01 9.66747991e-01 -4.01761999e-03 -5.69657461e+01] [-1.44446166e-02 3.34855509e-04 9.99895615e-01 -5.45278613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.958623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:265.84, Y:-56.97, Z:-5.45 [[ 9.67391413e-01 2.52919091e-01 1.36304111e-02 2.65842936e+02] [-2.52888604e-01 9.67487363e-01 -3.94412007e-03 -5.69723835e+01] [-1.41847938e-02 3.68532240e-04 9.99899323e-01 -5.45347609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.87, Y:-56.98, Z:-5.45 [[ 9.68048812e-01 2.50407829e-01 1.33197942e-02 2.65870167e+02] [-2.50378496e-01 9.68140363e-01 -3.85300574e-03 -5.69792287e+01] [-1.38602532e-02 3.94907606e-04 9.99903864e-01 -5.45427411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.90, Y:-56.99, Z:-5.45 [[ 9.68063300e-01 2.50351798e-01 1.33200788e-02 2.65897574e+02] [-2.50322473e-01 9.68154854e-01 -3.85202144e-03 -5.69870214e+01] [-1.38602594e-02 3.94685523e-04 9.99903864e-01 -5.45482387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:265.93, Y:-56.99, Z:-5.46 [[ 9.68978797e-01 2.46792639e-01 1.31713352e-02 2.65925054e+02] [-2.46763647e-01 9.69068212e-01 -3.80826568e-03 -5.69941169e+01] [-1.37037742e-02 4.39921986e-04 9.99906002e-01 -5.45582694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.078623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.95, Y:-57.00, Z:-5.46 [[ 9.69283708e-01 2.45606953e-01 1.28964035e-02 2.65952096e+02] [-2.45579066e-01 9.69369396e-01 -3.72782722e-03 -5.70020393e+01] [-1.34169591e-02 4.46235477e-04 9.99909889e-01 -5.45630851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10862385300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:265.98, Y:-57.01, Z:-5.46 [[ 9.69400143e-01 2.45136783e-01 1.30889795e-02 2.65978670e+02] [-2.45108029e-01 9.69488395e-01 -3.78238802e-03 -5.70101229e+01] [-1.36168162e-02 4.58433510e-04 9.99907182e-01 -5.45687575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.138623853 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:266.00, Y:-57.02, Z:-5.45 [[ 9.69315981e-01 2.45479860e-01 1.28905682e-02 2.66004815e+02] [-2.45452010e-01 9.69401588e-01 -3.72450129e-03 -5.70170762e+01] [-1.34104273e-02 4.46202753e-04 9.99909977e-01 -5.44719617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.03, Y:-57.02, Z:-5.46 [[ 9.69068871e-01 2.46425458e-01 1.34170250e-02 2.66030416e+02] [-2.46395398e-01 9.69161644e-01 -3.87506811e-03 -5.70242273e+01] [-1.39581814e-02 4.49314667e-04 9.99902479e-01 -5.45745756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.198623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:266.06, Y:-57.03, Z:-5.46 [[ 9.68745579e-01 2.47702894e-01 1.32393390e-02 2.66057120e+02] [-2.47673766e-01 9.68835950e-01 -3.82212475e-03 -5.70313237e+01] [-1.37734989e-02 4.23629501e-04 9.99905051e-01 -5.45783129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22862385300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:266.08, Y:-57.04, Z:-5.45 [[ 9.67895284e-01 2.51038483e-01 1.25857105e-02 2.66083199e+02] [-2.51012452e-01 9.67977041e-01 -3.63261555e-03 -5.70382685e+01] [-1.30946051e-02 3.56821399e-04 9.99914198e-01 -5.45028813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.258623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:266.11, Y:-57.05, Z:-5.46 [[ 9.67447131e-01 2.52732018e-01 1.31368267e-02 2.66109430e+02] [-2.52703831e-01 9.67536256e-01 -3.79038634e-03 -5.70460411e+01] [-1.36683082e-02 3.47271937e-04 9.99906524e-01 -5.45862173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:266.14, Y:-57.05, Z:-5.46 [[ 9.66538024e-01 2.56164423e-01 1.35659867e-02 2.66136233e+02] [-2.56134717e-01 9.66633174e-01 -3.91315907e-03 -5.70532417e+01] [-1.41157449e-02 3.07496870e-04 9.99900321e-01 -5.45944583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.318623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.16, Y:-57.06, Z:-5.46 [[ 9.66130213e-01 2.57697307e-01 1.35834260e-02 2.66162688e+02] [-2.57667690e-01 9.66225655e-01 -3.91717071e-03 -5.70601105e+01] [-1.41340991e-02 2.84486962e-04 9.99900068e-01 -5.45951118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.19, Y:-57.07, Z:-5.46 [[ 9.65618724e-01 2.59596411e-01 1.37906811e-02 2.66189902e+02] [-2.59566098e-01 9.65717161e-01 -3.97555346e-03 -5.70671089e+01] [-1.43499368e-02 2.59275591e-04 9.99897001e-01 -5.46007564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.378623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:266.22, Y:-57.07, Z:-5.46 [[ 9.65135388e-01 2.61386500e-01 1.38123283e-02 2.66217418e+02] [-2.61356289e-01 9.65234191e-01 -3.98077703e-03 -5.70737655e+01] [-1.43726529e-02 2.32049922e-04 9.99896681e-01 -5.46089901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.408623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.24, Y:-57.08, Z:-5.46 [[ 9.63948825e-01 2.65764464e-01 1.31115414e-02 2.66244026e+02] [-2.65737658e-01 9.64037979e-01 -3.77790829e-03 -5.70792083e+01] [-1.36440576e-02 1.57479960e-04 9.99906903e-01 -5.46129664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.438623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.27, Y:-57.09, Z:-5.46 [[ 9.63410169e-01 2.67710756e-01 1.31071759e-02 2.66271200e+02] [-2.67684165e-01 9.63499317e-01 -3.77535262e-03 -5.70862440e+01] [-1.36394575e-02 1.28629667e-04 9.99906970e-01 -5.46184125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.468623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:266.30, Y:-57.09, Z:-5.46 [[ 9.62932872e-01 2.69414341e-01 1.32738991e-02 2.66298103e+02] [-2.69387246e-01 9.63024352e-01 -3.82232545e-03 -5.70929282e+01] [-1.38128774e-02 1.04823701e-04 9.99904592e-01 -5.46238160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.32, Y:-57.10, Z:-5.46 [[ 9.62517007e-01 2.70885746e-01 1.34879431e-02 2.66324402e+02] [-2.70857924e-01 9.62611503e-01 -3.88317791e-03 -5.70992673e+01] [-1.40355467e-02 8.43085025e-05 9.99901493e-01 -5.46289919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.528623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:266.35, Y:-57.10, Z:-5.46 [[ 9.61885321e-01 2.73112254e-01 1.36501501e-02 2.66351196e+02] [-2.73084015e-01 9.61982169e-01 -3.92768491e-03 -5.71047283e+01] [-1.42038999e-02 5.03446629e-05 9.99899118e-01 -5.46325825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.38, Y:-57.11, Z:-5.46 [[ 9.61686959e-01 2.73797305e-01 1.39006481e-02 2.66378455e+02] [-2.73768110e-01 9.61787416e-01 -3.99843933e-03 -5.71110834e+01] [-1.44642303e-02 3.96928103e-05 9.99895387e-01 -5.46354133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.588623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:266.40, Y:-57.12, Z:-5.46 [[ 9.61571392e-01 2.74190703e-01 1.41391702e-02 2.66405000e+02] [-2.74160556e-01 9.61675339e-01 -4.06598104e-03 -5.71166889e+01] [-1.47121454e-02 3.33282944e-05 9.99891770e-01 -5.46405817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.43, Y:-57.12, Z:-5.47 [[ 9.61710776e-01 2.73699320e-01 1.41797854e-02 2.66432346e+02] [-2.73668966e-01 9.61815305e-01 -4.07632584e-03 -5.71239785e+01] [-1.47540223e-02 3.96792658e-05 9.99891153e-01 -5.46519997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.648623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.46, Y:-57.13, Z:-5.47 [[ 9.62243397e-01 2.71818588e-01 1.42232397e-02 2.66458464e+02] [-2.71787857e-01 9.62348508e-01 -4.08777140e-03 -5.71313689e+01] [-1.47988457e-02 6.77271969e-05 9.99890489e-01 -5.46649638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67862385300003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:266.49, Y:-57.14, Z:-5.47 [[ 9.62608383e-01 2.70531604e-01 1.40624406e-02 2.66485466e+02] [-2.70501446e-01 9.62711091e-01 -4.04026464e-03 -5.71387923e+01] [-1.46310868e-02 8.52820971e-05 9.99892956e-01 -5.46637178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.708623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.51, Y:-57.15, Z:-5.47 [[ 9.63008294e-01 2.69110525e-01 1.39481361e-02 2.66512672e+02] [-2.69080722e-01 9.63109295e-01 -4.00637524e-03 -5.71459800e+01] [-1.45117373e-02 1.04998051e-04 9.99894694e-01 -5.46693320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:266.54, Y:-57.15, Z:-5.47 [[ 9.63390339e-01 2.67734943e-01 1.40376519e-02 2.66538987e+02] [-2.67704621e-01 9.63492597e-01 -4.03129500e-03 -5.71530841e+01] [-1.46044922e-02 1.25766378e-04 9.99893341e-01 -5.46762900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.768623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.57, Y:-57.16, Z:-5.47 [[ 9.64134890e-01 2.65021622e-01 1.44032523e-02 2.66566086e+02] [-2.64989431e-01 9.64242455e-01 -4.13397308e-03 -5.71602416e+01] [-1.49838196e-02 1.68998046e-04 9.99887722e-01 -5.46754156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79862385300004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:266.59, Y:-57.17, Z:-5.47 [[ 9.64505724e-01 2.63657336e-01 1.46122233e-02 2.66592911e+02] [-2.63624064e-01 9.64616386e-01 -4.19287275e-03 -5.71677977e+01] [-1.52006717e-02 1.91916061e-04 9.99884445e-01 -5.46793563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.828623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.62, Y:-57.18, Z:-5.47 [[ 9.64796416e-01 2.62591118e-01 1.46212202e-02 2.66619865e+02] [-2.62557699e-01 9.64907178e-01 -4.19436477e-03 -5.71753142e+01] [-1.52095232e-02 2.07794168e-04 9.99884307e-01 -5.46815858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.65, Y:-57.18, Z:-5.47 [[ 9.65112332e-01 2.61441891e-01 1.43639946e-02 2.66645582e+02] [-2.61409526e-01 9.65219192e-01 -4.11958484e-03 -5.71830153e+01] [-1.49414354e-02 2.20977098e-04 9.99888346e-01 -5.46932089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.888623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.67, Y:-57.19, Z:-5.47 [[ 9.65184367e-01 2.61190614e-01 1.40926030e-02 2.66672236e+02] [-2.61159452e-01 9.65287219e-01 -4.04051950e-03 -5.71909312e+01] [-1.46587554e-02 2.19429768e-04 9.99892531e-01 -5.46999258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.70, Y:-57.20, Z:-5.47 [[ 9.65095436e-01 2.61558993e-01 1.33301612e-02 2.66699372e+02] [-2.61531159e-01 9.65187470e-01 -3.82101871e-03 -5.71985470e+01] [-1.38655264e-02 2.01395213e-04 9.99903849e-01 -5.47084699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.948623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.73, Y:-57.21, Z:-5.47 [[ 9.65054924e-01 2.61735230e-01 1.27930788e-02 2.66725184e+02] [-2.61709620e-01 9.65139696e-01 -3.66625869e-03 -5.72056559e+01] [-1.33066973e-02 1.90069204e-04 9.99911444e-01 -5.47137082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.75, Y:-57.21, Z:-5.47 [[ 9.64928886e-01 2.62228076e-01 1.21935250e-02 2.66751759e+02] [-2.62204863e-01 9.65005910e-01 -3.49340330e-03 -5.72132263e+01] [-1.26828921e-02 1.73684205e-04 9.99919554e-01 -5.47201113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.78, Y:-57.22, Z:-5.47 [[ 9.64837239e-01 2.62570626e-01 1.20734242e-02 2.66779098e+02] [-2.62547906e-01 9.64912762e-01 -3.45812964e-03 -5.72210099e+01] [-1.25578043e-02 1.66680025e-04 9.99921134e-01 -5.47257890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:266.80, Y:-57.23, Z:-5.47 [[ 9.64731730e-01 2.62967859e-01 1.18572166e-02 2.66804654e+02] [-2.62945984e-01 9.64804582e-01 -3.39543916e-03 -5.72280852e+01] [-1.23327882e-02 1.57880415e-04 9.99923936e-01 -5.47299476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.068623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:266.83, Y:-57.24, Z:-5.47 [[ 9.64642251e-01 2.63285681e-01 1.20821530e-02 2.66831931e+02] [-2.63263007e-01 9.64717900e-01 -3.45875510e-03 -5.72359812e+01] [-1.25665099e-02 1.55677372e-04 9.99921026e-01 -5.47316978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:266.86, Y:-57.24, Z:-5.47 [[ 9.64386367e-01 2.64165307e-01 1.32524138e-02 2.66857451e+02] [-2.64138127e-01 9.64477406e-01 -3.79265246e-03 -5.72442455e+01] [-1.37835409e-02 1.57114580e-04 9.99904990e-01 -5.47357254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.128623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:266.89, Y:-57.25, Z:-5.47 [[ 9.64352512e-01 2.64297309e-01 1.30830204e-02 2.66885075e+02] [-2.64270848e-01 9.64441242e-01 -3.74293055e-03 -5.72512499e+01] [-1.36070509e-02 1.52043586e-04 9.99907408e-01 -5.46566034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.158623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.91, Y:-57.26, Z:-5.47 [[ 9.63950887e-01 2.65709484e-01 1.40412850e-02 2.66910889e+02] [-2.65679171e-01 9.64053137e-01 -4.01594577e-03 -5.72597935e+01] [-1.46036198e-02 1.40697514e-04 9.99893352e-01 -5.47372840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:-57.27, Z:-5.47 [[ 9.63747161e-01 2.66447533e-01 1.40400140e-02 2.66937197e+02] [-2.66417322e-01 9.63849416e-01 -4.01431884e-03 -5.72677032e+01] [-1.46020646e-02 1.28285456e-04 9.99893376e-01 -5.47423246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.218623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:266.96, Y:-57.28, Z:-5.48 [[ 9.63527797e-01 2.67242839e-01 1.39803335e-02 2.66964420e+02] [-2.67212987e-01 9.63629209e-01 -3.99597402e-03 -5.72755617e+01] [-1.45397532e-02 1.14505365e-04 9.99894286e-01 -5.47503157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.248623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:266.99, Y:-57.28, Z:-5.47 [[ 9.63220888e-01 2.68357269e-01 1.37803153e-02 2.66991811e+02] [-2.68328394e-01 9.63319452e-01 -3.93777418e-03 -5.72829310e+01] [-1.43315761e-02 9.52964594e-05 9.99897293e-01 -5.47496919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.278623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:267.02, Y:-57.29, Z:-5.48 [[ 9.62501024e-01 2.70922868e-01 1.38772451e-02 2.67019469e+02] [-2.70893868e-01 9.62601058e-01 -3.96435811e-03 -5.72896818e+01] [-1.44322860e-02 5.64381591e-05 9.99895848e-01 -5.47521949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:267.05, Y:-57.30, Z:-5.48 [[ 9.62173710e-01 2.72095302e-01 1.36344494e-02 2.67045296e+02] [-2.72067435e-01 9.62270308e-01 -3.89426696e-03 -5.72960654e+01] [-1.41796376e-02 3.74716015e-05 9.99899463e-01 -5.47540351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.338623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.07, Y:-57.30, Z:-5.48 [[ 9.61359455e-01 2.74955979e-01 1.36823913e-02 2.67072414e+02] [-2.74928225e-01 9.61456816e-01 -3.90665585e-03 -5.73018508e+01] [-1.42291867e-02 -5.97499864e-06 9.99898760e-01 -5.47603435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:-57.31, Z:-5.48 [[ 9.61023938e-01 2.76113572e-01 1.39386868e-02 2.67098779e+02] [-2.76084904e-01 9.61125015e-01 -3.97878880e-03 -5.73083224e+01] [-1.44954182e-02 -2.45497345e-05 9.99894936e-01 -5.47668089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.398623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:267.13, Y:-57.31, Z:-5.48 [[ 9.60454545e-01 2.78088001e-01 1.39330922e-02 2.67125096e+02] [-2.78059582e-01 9.60555600e-01 -3.97593529e-03 -5.73136359e+01] [-1.44891696e-02 -5.55246614e-05 9.99895025e-01 -5.47752112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:267.15, Y:-57.32, Z:-5.48 [[ 9.60216109e-01 2.78910279e-01 1.39312861e-02 2.67151485e+02] [-2.78881972e-01 9.60317162e-01 -3.97418081e-03 -5.73199377e+01] [-1.44868930e-02 -6.91120958e-05 9.99895057e-01 -5.47841915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.458623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.18, Y:-57.33, Z:-5.48 [[ 9.60052043e-01 2.79490275e-01 1.36110495e-02 2.67177626e+02] [-2.79463330e-01 9.60148520e-01 -3.88165200e-03 -5.73260577e+01] [-1.41535131e-02 -7.72012906e-05 9.99899831e-01 -5.47884233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.20, Y:-57.33, Z:-5.48 [[ 9.59789813e-01 2.80408151e-01 1.32205906e-02 2.67204844e+02] [-2.80382824e-01 9.59880858e-01 -3.76973114e-03 -5.73312329e+01] [-1.37472552e-02 -8.86769982e-05 9.99905498e-01 -5.47964281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.518623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:267.23, Y:-57.34, Z:-5.48 [[ 9.59710402e-01 2.80688127e-01 1.30430021e-02 2.67232401e+02] [-2.80663542e-01 9.59799024e-01 -3.71613389e-03 -5.73370944e+01] [-1.35617354e-02 -9.42828228e-05 9.99908031e-01 -5.48031252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:267.26, Y:-57.34, Z:-5.48 [[ 9.59668208e-01 2.80835076e-01 1.29842548e-02 2.67259063e+02] [-2.80810738e-01 9.59756037e-01 -3.69847778e-03 -5.73425085e+01] [-1.35003792e-02 -9.68066398e-05 9.99908861e-01 -5.48096854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.578623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:267.29, Y:-57.35, Z:-5.48 [[ 9.59766834e-01 2.80499420e-01 1.29499123e-02 2.67286551e+02] [-2.80475187e-01 9.59854190e-01 -3.68819558e-03 -5.73479778e+01] [-1.34645643e-02 -9.23212610e-05 9.99909344e-01 -5.48137397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:267.31, Y:-57.35, Z:-5.48 [[ 9.60023850e-01 2.79610121e-01 1.31296573e-02 2.67314897e+02] [-2.79585173e-01 9.60113625e-01 -3.73598829e-03 -5.73522894e+01] [-1.36505830e-02 -8.42196383e-05 9.99906823e-01 -5.48247485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.638623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:267.34, Y:-57.36, Z:-5.48 [[ 9.60309392e-01 2.78634928e-01 1.29787974e-02 2.67342062e+02] [-2.78610475e-01 9.60397091e-01 -3.69207994e-03 -5.73587583e+01] [-1.34935417e-02 -7.04898644e-05 9.99908956e-01 -5.48289667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.37, Y:-57.37, Z:-5.48 [[ 9.60715830e-01 2.77222398e-01 1.31467333e-02 2.67368944e+02] [-2.77197190e-01 9.60805776e-01 -3.73884233e-03 -5.73651924e+01] [-1.36679481e-02 -5.22725135e-05 9.99906588e-01 -5.48358345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.698623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.40, Y:-57.37, Z:-5.48 [[ 9.61892467e-01 2.73129569e-01 1.27718827e-02 2.67395875e+02] [-2.73105424e-01 9.61977255e-01 -3.63164608e-03 -5.73702580e+01] [-1.32781706e-02 5.18256020e-06 9.99911841e-01 -5.48379050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72862385300004 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:267.42, Y:-57.38, Z:-5.49 [[ 9.62582384e-01 2.70697950e-01 1.25607711e-02 2.67422817e+02] [-2.70674418e-01 9.62664333e-01 -3.56946932e-03 -5.73769947e+01] [-1.30580544e-02 3.60288844e-05 9.99914739e-01 -5.48508149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.758623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:267.45, Y:-57.38, Z:-5.48 [[ 9.64195243e-01 2.64889820e-01 1.26853098e-02 2.67449101e+02] [-2.64865323e-01 9.64278679e-01 -3.60423711e-03 -5.73832628e+01] [-1.31868995e-02 1.15289598e-04 9.99913042e-01 -5.48181650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.48, Y:-57.39, Z:-5.49 [[ 9.64957704e-01 2.62091631e-01 1.28299211e-02 2.67476233e+02] [-2.62066355e-01 9.65042980e-01 -3.64311627e-03 -5.73914358e+01] [-1.33362556e-02 1.53162447e-04 9.99911056e-01 -5.48597608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.818623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.50, Y:-57.40, Z:-5.49 [[ 9.65647297e-01 2.59539576e-01 1.28259783e-02 2.67501865e+02] [-2.59514102e-01 9.65732454e-01 -3.64108568e-03 -5.73991859e+01] [-1.33314694e-02 1.87482306e-04 9.99911114e-01 -5.48650833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84862385300005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:267.53, Y:-57.41, Z:-5.49 [[ 9.66272439e-01 2.57193783e-01 1.29973710e-02 2.67528079e+02] [-2.57167428e-01 9.66359824e-01 -3.68856922e-03 -5.74069077e+01] [-1.35088143e-02 2.21662304e-04 9.99908727e-01 -5.48704459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.878623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:267.55, Y:-57.42, Z:-5.49 [[ 9.67319184e-01 2.53211774e-01 1.33189542e-02 2.67554942e+02] [-2.53183738e-01 9.67410832e-01 -3.77855738e-03 -5.74161180e+01] [-1.38416758e-02 2.82928429e-04 9.99904159e-01 -5.48732890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.908623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:267.58, Y:-57.42, Z:-5.49 [[ 9.67362965e-01 2.53044456e-01 1.33190624e-02 2.67582395e+02] [-2.53016409e-01 9.67454610e-01 -3.77817637e-03 -5.74237129e+01] [-1.38416349e-02 2.84926568e-04 9.99904159e-01 -5.48787852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.938623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.61, Y:-57.43, Z:-5.49 [[ 9.67819556e-01 2.51302499e-01 1.31286587e-02 2.67609166e+02] [-2.51275130e-01 9.67908551e-01 -3.72114961e-03 -5.74318725e+01] [-1.36424752e-02 3.02495950e-04 9.99906891e-01 -5.48859620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.968623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:267.64, Y:-57.44, Z:-5.49 [[ 9.68492288e-01 2.48722550e-01 1.26404131e-02 2.67635394e+02] [-2.48696971e-01 9.68574719e-01 -3.58187246e-03 -5.74413983e+01] [-1.31340770e-02 3.25383420e-04 9.99913691e-01 -5.48902863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.998623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:267.66, Y:-57.45, Z:-5.49 [[ 9.68697147e-01 2.47920062e-01 1.27074755e-02 2.67662003e+02] [-2.47894153e-01 9.68780434e-01 -3.59995134e-03 -5.74502659e+01] [-1.32032538e-02 3.37153707e-04 9.99912776e-01 -5.48973944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.028623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:267.69, Y:-57.46, Z:-5.49 [[ 9.68887145e-01 2.47189718e-01 1.24476720e-02 2.67687834e+02] [-2.47164810e-01 9.68967042e-01 -3.52541143e-03 -5.74601244e+01] [-1.29328293e-02 3.39099346e-04 9.99916310e-01 -5.49025702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05862385300003 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:267.71, Y:-57.47, Z:-5.48 [[ 9.68940229e-01 2.47019001e-01 1.16809996e-02 2.67713945e+02] [-2.46997064e-01 9.69010583e-01 -3.30754134e-03 -5.74676723e+01] [-1.21360378e-02 3.19637254e-04 9.99926304e-01 -5.48438468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.088623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.74, Y:-57.48, Z:-5.49 [[ 9.68774427e-01 2.47667334e-01 1.17047161e-02 2.67740109e+02] [-2.47645369e-01 9.68845083e-01 -3.31306649e-03 -5.74769047e+01] [-1.21605950e-02 3.10995349e-04 9.99926009e-01 -5.49167018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11862385300003 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:267.77, Y:-57.48, Z:-5.48 [[ 9.68692587e-01 2.48007917e-01 1.12581202e-02 2.67767249e+02] [-2.47987627e-01 9.68757961e-01 -3.18593790e-03 -5.74844325e+01] [-1.16965314e-02 2.94319898e-04 9.99931550e-01 -5.48367502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.148623853 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:267.79, Y:-57.49, Z:-5.48 [[ 9.68040234e-01 2.50543037e-01 1.12379642e-02 2.67792982e+02] [-2.50523000e-01 9.68105427e-01 -3.17943893e-03 -5.74944169e+01] [-1.16761204e-02 2.62456311e-04 9.99931797e-01 -5.48299667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.82, Y:-57.50, Z:-5.49 [[ 9.67525658e-01 2.52471602e-01 1.23366270e-02 2.67818883e+02] [-2.52447629e-01 9.67604269e-01 -3.48887668e-03 -5.75035105e+01] [-1.28178152e-02 2.61225477e-04 9.99917814e-01 -5.49263807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.208623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:267.84, Y:-57.51, Z:-5.49 [[ 9.66243395e-01 2.57278363e-01 1.34738761e-02 2.67844202e+02] [-2.57250250e-01 9.66337311e-01 -3.80936515e-03 -5.75119511e+01] [-1.40003764e-02 2.14615922e-04 9.99901967e-01 -5.49275262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:267.87, Y:-57.52, Z:-5.49 [[ 9.65568398e-01 2.59800066e-01 1.34757011e-02 2.67870687e+02] [-2.59772209e-01 9.65662412e-01 -3.80857797e-03 -5.75196863e+01] [-1.40024469e-02 1.76829893e-04 9.99901945e-01 -5.49291128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.268623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.90, Y:-57.53, Z:-5.49 [[ 9.64813205e-01 2.62603098e-01 1.32322426e-02 2.67896263e+02] [-2.62576515e-01 9.64903931e-01 -3.73882247e-03 -5.75271266e+01] [-1.37496692e-02 1.32789161e-04 9.99905460e-01 -5.49330767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29862385300004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:267.92, Y:-57.53, Z:-5.49 [[ 9.63486068e-01 2.67460153e-01 1.26357948e-02 2.67923558e+02] [-2.67436345e-01 9.63568920e-01 -3.56913693e-03 -5.75342066e+01] [-1.31300611e-02 5.95429201e-05 9.99913795e-01 -5.48643879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.328623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:267.95, Y:-57.54, Z:-5.49 [[ 9.62858136e-01 2.69722609e-01 1.24065754e-02 2.67949507e+02] [-2.69699855e-01 9.62938063e-01 -3.50353491e-03 -5.75417281e+01] [-1.28917463e-02 2.73555056e-05 9.99916898e-01 -5.48981617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:267.98, Y:-57.55, Z:-5.50 [[ 9.62176693e-01 2.72146034e-01 1.23509901e-02 2.67976090e+02] [-2.72123689e-01 9.62255962e-01 -3.48734508e-03 -5.75500317e+01] [-1.28338810e-02 -5.55482947e-06 9.99917642e-01 -5.49630376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.388623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:268.00, Y:-57.56, Z:-5.50 [[ 9.61129750e-01 2.75815550e-01 1.24654152e-02 2.68002489e+02] [-2.75793136e-01 9.61210580e-01 -3.51663453e-03 -5.75570450e+01] [-1.29518315e-02 -5.79338894e-05 9.99916120e-01 -5.49706065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:268.03, Y:-57.56, Z:-5.50 [[ 9.60712651e-01 2.77257836e-01 1.26212010e-02 2.68029246e+02] [-2.77234989e-01 9.60795549e-01 -3.56015585e-03 -5.75640429e+01] [-1.31134749e-02 -7.87517480e-05 9.99914012e-01 -5.49753011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.448623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.06, Y:-57.57, Z:-5.50 [[ 9.60184809e-01 2.79060460e-01 1.30534755e-02 2.68056160e+02] [-2.79036230e-01 9.60273528e-01 -3.67895337e-03 -5.75704419e+01] [-1.35615574e-02 -1.09917464e-04 9.99908032e-01 -5.49824549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.08, Y:-57.58, Z:-5.50 [[ 9.60097236e-01 2.79365564e-01 1.29683643e-02 2.68082190e+02] [-2.79341690e-01 9.60184809e-01 -3.65401962e-03 -5.75773311e+01] [-1.34728336e-02 -1.14390651e-04 9.99909231e-01 -5.49872228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.508623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:268.11, Y:-57.58, Z:-5.50 [[ 9.60199646e-01 2.78986975e-01 1.35243489e-02 2.68108931e+02] [-2.78960992e-01 9.60294879e-01 -3.80928661e-03 -5.75843847e+01] [-1.40501044e-02 -1.15090135e-04 9.99901286e-01 -5.49916036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53862385300005 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:268.14, Y:-57.59, Z:-5.50 [[ 9.60290002e-01 2.78666561e-01 1.37135006e-02 2.68135449e+02] [-2.78639828e-01 9.60387909e-01 -3.86154556e-03 -5.75911301e+01] [-1.42463638e-02 -1.12923866e-04 9.99898509e-01 -5.49890313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.568623853 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:268.16, Y:-57.60, Z:-5.50 [[ 9.60419297e-01 2.78214809e-01 1.38308957e-02 2.68161611e+02] [-2.78187587e-01 9.60518875e-01 -3.89334450e-03 -5.75972671e+01] [-1.43680225e-02 -1.08340314e-04 9.99896769e-01 -5.49944835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:268.19, Y:-57.60, Z:-5.50 [[ 9.60757390e-01 2.77044871e-01 1.38339348e-02 2.68188835e+02] [-2.77017534e-01 9.60856977e-01 -3.89291562e-03 -5.76020649e+01] [-1.43709450e-02 -9.20950441e-05 9.99896728e-01 -5.49991712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.628623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:268.21, Y:-57.61, Z:-5.50 [[ 9.60921119e-01 2.76483125e-01 1.36998127e-02 2.68214668e+02] [-2.76456273e-01 9.61018769e-01 -3.85416639e-03 -5.76084331e+01] [-1.42313891e-02 -8.38492914e-05 9.99898725e-01 -5.50064030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.658623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:268.24, Y:-57.61, Z:-5.50 [[ 9.61359691e-01 2.74947923e-01 1.38269096e-02 2.68242163e+02] [-2.74920431e-01 9.61459118e-01 -3.88855793e-03 -5.76149977e+01] [-1.43631593e-02 -6.29971035e-05 9.99896843e-01 -5.50136333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.688623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:268.27, Y:-57.62, Z:-5.49 [[ 9.61671957e-01 2.73872228e-01 1.34555043e-02 2.68269787e+02] [-2.73846102e-01 9.61766084e-01 -3.78312138e-03 -5.76210273e+01] [-1.39771396e-02 -4.66156678e-05 9.99902314e-01 -5.49230471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.30, Y:-57.63, Z:-5.50 [[ 9.61940552e-01 2.72883762e-01 1.43117622e-02 2.68295433e+02] [-2.72854113e-01 9.62047011e-01 -4.02271375e-03 -5.76280697e+01] [-1.48663213e-02 -3.54116836e-05 9.99889490e-01 -5.50251599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.32, Y:-57.63, Z:-5.50 [[ 9.62265204e-01 2.71742218e-01 1.42072051e-02 2.68322251e+02] [-2.71712895e-01 9.62370078e-01 -3.99199339e-03 -5.76343716e+01] [-1.47573822e-02 -1.89245105e-05 9.99891104e-01 -5.50218481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.778623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.35, Y:-57.64, Z:-5.50 [[ 9.63104464e-01 2.68727595e-01 1.46721177e-02 2.68350415e+02] [-2.68695990e-01 9.63216216e-01 -4.12143450e-03 -5.76392822e+01] [-1.52399649e-02 2.70327781e-05 9.99883865e-01 -5.50279234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:268.38, Y:-57.65, Z:-5.50 [[ 9.63582964e-01 2.67000086e-01 1.47927843e-02 2.68376535e+02] [-2.66967772e-01 9.63696504e-01 -4.15420816e-03 -5.76460094e+01] [-1.53649285e-02 5.37275476e-05 9.99881951e-01 -5.50304571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.838623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:268.40, Y:-57.65, Z:-5.50 [[ 9.64585281e-01 2.63369148e-01 1.45577320e-02 2.68403132e+02] [-2.63337460e-01 9.64695123e-01 -4.08685431e-03 -5.76544977e+01] [-1.51201244e-02 1.08523344e-04 9.99885678e-01 -5.50451940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86862385300003 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:268.43, Y:-57.66, Z:-5.51 [[ 9.65064877e-01 2.61622510e-01 1.42634374e-02 2.68428971e+02] [-2.61591911e-01 9.65170267e-01 -4.00339041e-03 -5.76617218e+01] [-1.48140227e-02 1.32331622e-04 9.99890258e-01 -5.50504996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.898623853 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:268.46, Y:-57.67, Z:-5.51 [[ 9.65400044e-01 2.60380312e-01 1.43124936e-02 2.68455687e+02] [-2.60349400e-01 9.65506121e-01 -4.01489318e-03 -5.76687983e+01] [-1.48641993e-02 1.49728939e-04 9.99889510e-01 -5.50566448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92862385300003 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:268.48, Y:-57.67, Z:-5.51 [[ 9.65758986e-01 2.59042850e-01 1.43660271e-02 2.68481981e+02] [-2.59011574e-01 9.65865815e-01 -4.02884170e-03 -5.76745992e+01] [-1.49192971e-02 1.69922793e-04 9.99888687e-01 -5.50596748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.958623853 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:268.51, Y:-57.68, Z:-5.50 [[ 9.65858010e-01 2.58722682e-01 1.34491080e-02 2.68509740e+02] [-2.58695257e-01 9.65951628e-01 -3.77052049e-03 -5.76797917e+01] [-1.39667070e-02 1.62566958e-04 9.99902448e-01 -5.49735903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98862385300004 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:268.54, Y:-57.69, Z:-5.51 [[ 9.65731279e-01 2.59170072e-01 1.39273447e-02 2.68536421e+02] [-2.59140724e-01 9.65831687e-01 -3.90350133e-03 -5.76871462e+01] [-1.44631416e-02 1.60591133e-04 9.99895390e-01 -5.50753075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.018623853 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:268.56, Y:-57.69, Z:-5.51 [[ 9.65485582e-01 2.60110919e-01 1.34126758e-02 2.68562274e+02] [-2.60083804e-01 9.65578733e-01 -3.75833638e-03 -5.76932088e+01] [-1.39285789e-02 1.40199847e-04 9.99902983e-01 -5.50827105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04862385300004 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:268.59, Y:-57.70, Z:-5.51 [[ 9.65366921e-01 2.60548564e-01 1.34593013e-02 2.68589511e+02] [-2.60521320e-01 9.65460733e-01 -3.77011744e-03 -5.77003216e+01] [-1.39767256e-02 1.33111715e-04 9.99902312e-01 -5.50866310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.078623853 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:268.62, Y:-57.71, Z:-5.51 [[ 9.65149070e-01 2.61344247e-01 1.36549611e-02 2.68616870e+02] [-2.61316300e-01 9.65245652e-01 -3.82389687e-03 -5.77062069e+01] [-1.41797453e-02 1.22366589e-04 9.99899455e-01 -5.50910443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10862385300004 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:268.64, Y:-57.71, Z:-5.51 [[ 9.65113344e-01 2.61467816e-01 1.38135763e-02 2.68643358e+02] [-2.61439239e-01 9.65212187e-01 -3.86753676e-03 -5.77123888e+01] [-1.43442686e-02 1.21200453e-04 9.99897108e-01 -5.50947855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.138623853 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:268.67, Y:-57.72, Z:-5.51 [[ 9.65079941e-01 2.61560541e-01 1.43801983e-02 2.68670108e+02] [-2.61529616e-01 9.65187064e-01 -4.02385620e-03 -5.77185684e+01] [-1.49320634e-02 1.22495156e-04 9.99888503e-01 -5.51043189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16862385300004 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:268.70, Y:-57.72, Z:-5.51 [[ 9.65182682e-01 2.61161257e-01 1.47373295e-02 2.68697845e+02] [-2.61128752e-01 9.65295178e-01 -4.12240840e-03 -5.77247017e+01] [-1.53024865e-02 1.30536728e-04 9.99882902e-01 -5.51073852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.198623853 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:268.73, Y:-57.73, Z:-5.51 [[ 9.65336988e-01 2.60590728e-01 1.47299730e-02 2.68725193e+02] [-2.60558206e-01 9.65449353e-01 -4.11924132e-03 -5.77319021e+01] [-1.52944790e-02 1.38440677e-04 9.99883023e-01 -5.51133544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22862385300004 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:268.75, Y:-57.74, Z:-5.51 [[ 9.65775731e-01 2.58978668e-01 1.43974745e-02 2.68752026e+02] [-2.58947434e-01 9.65883028e-01 -4.02520463e-03 -5.77390975e+01] [-1.49487184e-02 1.59255878e-04 9.99888249e-01 -5.51239150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.258623853 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:268.78, Y:-57.75, Z:-5.51 [[ 9.66085009e-01 2.57809477e-01 1.46297383e-02 2.68777939e+02] [-2.57777110e-01 9.66195757e-01 -4.08903178e-03 -5.77460200e+01] [-1.51893823e-02 1.79140637e-04 9.99884619e-01 -5.51337019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28862385300005 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:268.80, Y:-57.75, Z:-5.51 [[ 9.66353872e-01 2.56801384e-01 1.46028668e-02 2.68803714e+02] [-2.56769040e-01 9.66464180e-01 -4.08020480e-03 -5.77528889e+01] [-1.51609499e-02 1.93357605e-04 9.99885047e-01 -5.51347186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.318623853 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:268.83, Y:-57.76, Z:-5.51 [[ 9.66917841e-01 2.54618903e-01 1.54629937e-02 2.68831098e+02] [-2.54582381e-01 9.67041445e-01 -4.31902721e-03 -5.77606687e+01] [-1.60530618e-02 2.39538702e-04 9.99871113e-01 -5.51396171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34862385300005 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:268.86, Y:-57.77, Z:-5.51 [[ 9.67236238e-01 2.53398844e-01 1.55911952e-02 2.68857941e+02] [-2.53361576e-01 9.67361855e-01 -4.35365119e-03 -5.77685618e+01] [-1.61855377e-02 2.60799418e-04 9.99868972e-01 -5.51413750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.378623853 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:268.88, Y:-57.78, Z:-5.51 [[ 9.67532800e-01 2.52255533e-01 1.57298187e-02 2.68883851e+02] [-2.52217468e-01 9.67660616e-01 -4.39113829e-03 -5.77759564e+01] [-1.63288150e-02 2.81235290e-04 9.99866636e-01 -5.51445037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.408623853 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:268.91, Y:-57.78, Z:-5.51 [[ 9.67867477e-01 2.50973178e-01 1.56527906e-02 2.68910181e+02] [-2.50935340e-01 9.67993995e-01 -4.36820572e-03 -5.77833492e+01] [-1.62481098e-02 3.00005913e-04 9.99867946e-01 -5.51474134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.438623853 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:268.94, Y:-57.79, Z:-5.52 [[ 9.68018153e-01 2.50394223e-01 1.56072999e-02 2.68937000e+02] [-2.50356553e-01 9.68143914e-01 -4.35405940e-03 -5.77912485e+01] [-1.62003437e-02 3.07418735e-04 9.99868719e-01 -5.51559670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.468623853 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:268.96, Y:-57.80, Z:-5.52 [[ 9.68154835e-01 2.49854591e-01 1.57765450e-02 2.68963638e+02] [-2.49816048e-01 9.68283317e-01 -4.40003509e-03 -5.77995975e+01] [-1.63755343e-02 3.18681121e-04 9.99865861e-01 -5.51662743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.498623853 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:268.99, Y:-57.81, Z:-5.52 [[ 9.68199276e-01 2.49685967e-01 1.57187779e-02 2.68990102e+02] [-2.49647701e-01 9.68326813e-01 -4.38288260e-03 -5.78070261e+01] [-1.63152584e-02 3.19346992e-04 9.99866846e-01 -5.51713870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.528623853 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:269.02, Y:-57.81, Z:-5.52 [[ 9.68222222e-01 2.49595090e-01 1.57486674e-02 2.69016726e+02] [-2.49556705e-01 9.68350241e-01 -4.38886077e-03 -5.78146499e+01] [-1.63456639e-02 3.19206997e-04 9.99866350e-01 -5.51744352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55862385300003 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:269.04, Y:-57.82, Z:-5.52 [[ 9.68211290e-01 2.49637358e-01 1.57508144e-02 2.69042203e+02] [-2.49598987e-01 9.68339346e-01 -4.38828566e-03 -5.78219735e+01] [-1.63476134e-02 3.17400406e-04 9.99866318e-01 -5.51853941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.588623853 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:269.07, Y:-57.83, Z:-5.52 [[ 9.68232322e-01 2.49584691e-01 1.52857172e-02 2.69067469e+02] [-2.49548567e-01 9.68352925e-01 -4.25738242e-03 -5.78309740e+01] [-1.58645465e-02 3.07606435e-04 9.99874103e-01 -5.51934758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61862385300003 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:269.09, Y:-57.84, Z:-5.52 [[ 9.68219152e-01 2.49674547e-01 1.46387772e-02 2.69092751e+02] [-2.49641446e-01 9.68329766e-01 -4.07591119e-03 -5.78391752e+01] [-1.51928150e-02 2.91929770e-04 9.99884540e-01 -5.51997332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.648623853 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:269.12, Y:-57.85, Z:-5.52 [[ 9.68207715e-01 2.49721941e-01 1.45867137e-02 2.69118928e+02] [-2.49689096e-01 9.68317545e-01 -4.06039025e-03 -5.78476798e+01] [-1.51385393e-02 2.89157808e-04 9.99885364e-01 -5.52093613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67862385300003 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:269.15, Y:-57.86, Z:-5.52 [[ 9.68179201e-01 2.49834033e-01 1.45599138e-02 2.69145773e+02] [-2.49801338e-01 9.68288632e-01 -4.05182693e-03 -5.78568847e+01] [-1.51104833e-02 2.85808614e-04 9.99885789e-01 -5.52136577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.708623853 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:269.17, Y:-57.87, Z:-5.52 [[ 9.68026906e-01 2.50406682e-01 1.48459962e-02 2.69170910e+02] [-2.50372773e-01 9.68140700e-01 -4.13033869e-03 -5.78677359e+01] [-1.54072775e-02 2.81245746e-04 9.99881261e-01 -5.52236753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73862385300004 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:269.20, Y:-57.88, Z:-5.52 [[ 9.67820664e-01 2.51202712e-01 1.48445104e-02 2.69197202e+02] [-2.51168924e-01 9.67934464e-01 -4.12858688e-03 -5.78762066e+01] [-1.54056254e-02 2.67251997e-04 9.99881291e-01 -5.52251694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.768623853 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:269.22, Y:-57.88, Z:-5.52 [[ 9.67113530e-01 2.53876019e-01 1.54398149e-02 2.69222365e+02] [-2.53839826e-01 9.67236741e-01 -4.29298312e-03 -5.78846891e+01] [-1.60238417e-02 2.32562131e-04 9.99871583e-01 -5.52347196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79862385300004 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:269.25, Y:-57.89, Z:-5.52 [[ 9.66601364e-01 2.55808999e-01 1.56063983e-02 2.69248982e+02] [-2.55772295e-01 9.66727322e-01 -4.33788966e-03 -5.78929287e+01] [-1.61968028e-02 2.01325749e-04 9.99868803e-01 -5.52385078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.828623853 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:269.27, Y:-57.90, Z:-5.52 [[ 9.66004336e-01 2.58041448e-01 1.58187983e-02 2.69274646e+02] [-2.58004057e-01 9.66133833e-01 -4.39576700e-03 -5.79008505e+01] [-1.64173663e-02 1.65015850e-04 9.99865212e-01 -5.52371758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85862385300004 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:269.30, Y:-57.91, Z:-5.52 [[ 9.66048447e-01 2.57876238e-01 1.58190800e-02 2.69302144e+02] [-2.57838842e-01 9.66177943e-01 -4.39475297e-03 -5.79082878e+01] [-1.64173485e-02 1.66771023e-04 9.99865212e-01 -5.52426721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.888623853 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:269.33, Y:-57.92, Z:-5.52 [[ 9.64706440e-01 2.62850750e-01 1.58419862e-02 2.69327655e+02] [-2.62813967e-01 9.64836503e-01 -4.39792191e-03 -5.79165009e+01] [-1.64409237e-02 7.92083358e-05 9.99864836e-01 -5.52425849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91862385300004 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:269.35, Y:-57.92, Z:-5.53 [[ 9.64064394e-01 2.65196623e-01 1.58301979e-02 2.69354555e+02] [-2.65160234e-01 9.64194353e-01 -4.39326415e-03 -5.79242899e+01] [-1.64284662e-02 3.78505652e-05 9.99865043e-01 -5.52513601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.948623853 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:269.38, Y:-57.93, Z:-5.53 [[ 9.62838445e-01 2.69637968e-01 1.54108994e-02 2.69381869e+02] [-2.69604066e-01 9.62961767e-01 -4.27582888e-03 -5.79312441e+01] [-1.59930328e-02 -3.79087145e-05 9.99872103e-01 -5.52590623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97862385300004 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:269.41, Y:-57.94, Z:-5.53 [[ 9.62219592e-01 2.71850623e-01 1.51886777e-02 2.69408270e+02] [-2.71817986e-01 9.62339458e-01 -4.21302868e-03 -5.79374687e+01] [-1.57619783e-02 -7.46970387e-05 9.99875770e-01 -5.52602690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.008623853 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:269.44, Y:-57.94, Z:-5.53 [[ 9.61581289e-01 2.74094236e-01 1.52897071e-02 2.69435817e+02] [-2.74061470e-01 9.61702832e-01 -4.23957363e-03 -5.79442325e+01] [-1.58661973e-02 -1.13624910e-04 9.99874118e-01 -5.52641916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03862385300005 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:269.46, Y:-57.95, Z:-5.53 [[ 9.60301258e-01 2.78552510e-01 1.51655274e-02 2.69461653e+02] [-2.78520846e-01 9.60420983e-01 -4.20403251e-03 -5.79502727e+01] [-1.57363346e-02 -1.86777823e-04 9.99876159e-01 -5.52707543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.068623853 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:269.49, Y:-57.96, Z:-5.53 [[ 9.59786471e-01 2.80330480e-01 1.49917161e-02 2.69489024e+02] [-2.80299775e-01 9.59903524e-01 -4.15449742e-03 -5.79566787e+01] [-1.55552334e-02 -2.14744234e-04 9.99878987e-01 -5.52748734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09862385300005 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:269.52, Y:-57.96, Z:-5.53 [[ 9.59293175e-01 2.82016552e-01 1.49422024e-02 2.69515824e+02] [-2.81986272e-01 9.59409509e-01 -4.13966043e-03 -5.79627437e+01] [-1.55031438e-02 -2.42347953e-04 9.99879790e-01 -5.52814766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.128623853 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:269.54, Y:-57.97, Z:-5.53 [[ 9.58760646e-01 2.83826853e-01 1.48438794e-02 2.69543209e+02] [-2.83797208e-01 9.58875510e-01 -4.11103423e-03 -5.79671544e+01] [-1.54002544e-02 -2.71153712e-04 9.99881372e-01 -5.52886709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.158623853 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:269.57, Y:-57.97, Z:-5.52 [[ 9.58831432e-01 2.83605765e-01 1.44932565e-02 2.69571376e+02] [-2.83577488e-01 9.58940927e-01 -4.01338680e-03 -5.79697438e+01] [-1.50363965e-02 -2.61799854e-04 9.99886913e-01 -5.52117132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.188623853 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:269.60, Y:-57.98, Z:-5.53 [[ 9.58892671e-01 2.83377777e-01 1.48956465e-02 2.69596909e+02] [-2.83347931e-01 9.59008323e-01 -4.12144976e-03 -5.79766190e+01] [-1.54529762e-02 -2.68622640e-04 9.99880560e-01 -5.52994669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.218623853 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:269.62, Y:-57.98, Z:-5.53 [[ 9.59119831e-01 2.82616187e-01 1.47391086e-02 2.69624011e+02] [-2.82586903e-01 9.59233040e-01 -4.07634992e-03 -5.79826037e+01] [-1.52902824e-02 -2.55370996e-04 9.99883064e-01 -5.53076818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.248623853 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:269.65, Y:-57.99, Z:-5.53 [[ 9.59404249e-01 2.81656485e-01 1.45983271e-02 2.69651458e+02] [-2.81627689e-01 9.59515277e-01 -4.03462571e-03 -5.79887228e+01] [-1.51436964e-02 -2.40456067e-04 9.99885299e-01 -5.53128352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.278623853 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:269.68, Y:-57.99, Z:-5.53 [[ 9.60078373e-01 2.79343431e-01 1.47229313e-02 2.69679240e+02] [-2.79313921e-01 9.60191233e-01 -4.06568001e-03 -5.79922332e+01] [-1.52725506e-02 -2.08948216e-04 9.99883346e-01 -5.53181296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30862385300003 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:269.71, Y:-58.00, Z:-5.53 [[ 9.60528848e-01 2.77807390e-01 1.44008850e-02 2.69706186e+02] [-2.77778999e-01 9.60636779e-01 -3.97570848e-03 -5.79975394e+01] [-1.49385010e-02 -1.81480737e-04 9.99888398e-01 -5.53227623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.338623853 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:269.73, Y:-58.00, Z:-5.53 [[ 9.61652745e-01 2.73908049e-01 1.40846884e-02 2.69734393e+02] [-2.73880492e-01 9.61755877e-01 -3.88711212e-03 -5.80021986e+01] [-1.46107432e-02 -1.19469364e-04 9.99893250e-01 -5.53346259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36862385300003 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:269.76, Y:-58.01, Z:-5.53 [[ 9.62277749e-01 2.71719789e-01 1.37800920e-02 2.69760552e+02] [-2.71693200e-01 9.62376407e-01 -3.80207139e-03 -5.80078148e+01] [-1.42947335e-02 -8.53085934e-05 9.99897821e-01 -5.53036264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.398623853 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:269.79, Y:-58.01, Z:-5.53 [[ 9.63015109e-01 2.69071079e-01 1.42356719e-02 2.69786709e+02] [-2.69042431e-01 9.63120321e-01 -3.92663413e-03 -5.80143818e+01] [-1.47672086e-02 -4.85917810e-05 9.99890958e-01 -5.53445419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42862385300003 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:269.81, Y:-58.02, Z:-5.53 [[ 9.64497120e-01 2.63670154e-01 1.49451073e-02 2.69813580e+02] [-2.63637967e-01 9.64612901e-01 -4.11991395e-03 -5.80207361e+01] [-1.55025417e-02 3.35474405e-05 9.99879828e-01 -5.53499831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.458623853 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:269.84, Y:-58.03, Z:-5.54 [[ 9.65268561e-01 2.60807673e-01 1.53610520e-02 2.69840287e+02] [-2.60773326e-01 9.65390776e-01 -4.23337467e-03 -5.80271387e+01] [-1.59335145e-02 8.05908702e-05 9.99873050e-01 -5.53574279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48862385300004 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:269.87, Y:-58.03, Z:-5.53 [[ 9.66138702e-01 2.57586996e-01 1.49982699e-02 2.69868335e+02] [-2.57553885e-01 9.66255102e-01 -4.13203037e-03 -5.80325805e+01] [-1.55565121e-02 1.29251786e-04 9.99878982e-01 -5.53088485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.518623853 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:269.89, Y:-58.04, Z:-5.54 [[ 9.67549954e-01 2.52266339e-01 1.44492634e-02 2.69894386e+02] [-2.52235029e-01 9.67657818e-01 -3.97975843e-03 -5.80399256e+01] [-1.49859018e-02 2.06004717e-04 9.99887684e-01 -5.53744046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54862385300004 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:269.92, Y:-58.05, Z:-5.54 [[ 9.68179673e-01 2.49857139e-01 1.41255319e-02 2.69921601e+02] [-2.49826978e-01 9.68282683e-01 -3.88930378e-03 -5.80472749e+01] [-1.46492782e-02 2.36605919e-04 9.99892666e-01 -5.53784794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.578623853 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:269.95, Y:-58.05, Z:-5.54 [[ 9.68919419e-01 2.47009488e-01 1.34711806e-02 2.69947268e+02] [-2.46981795e-01 9.69013025e-01 -3.70822848e-03 -5.80543426e+01] [-1.39697171e-02 2.65838220e-04 9.99902383e-01 -5.53850038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60862385300004 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:269.97, Y:-58.06, Z:-5.54 [[ 9.69189532e-01 2.45961300e-01 1.32170522e-02 2.69974639e+02] [-2.45934561e-01 9.69279611e-01 -3.63704439e-03 -5.80617318e+01] [-1.37055914e-02 2.74455423e-04 9.99906036e-01 -5.53965480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.638623853 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:270.00, Y:-58.07, Z:-5.54 [[ 9.69349841e-01 2.45331447e-01 1.31668955e-02 2.70000322e+02] [-2.45304866e-01 9.69439220e-01 -3.62232110e-03 -5.80687410e+01] [-1.36531742e-02 2.81392844e-04 9.99906751e-01 -5.54052521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66862385300004 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:270.03, Y:-58.08, Z:-5.54 [[ 9.69426290e-01 2.45052587e-01 1.27239401e-02 2.70026870e+02] [-2.45027754e-01 9.69509749e-01 -3.49938842e-03 -5.80758095e+01] [-1.31935181e-02 2.74680674e-04 9.99912924e-01 -5.54069430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.698623853 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:270.05, Y:-58.08, Z:-5.54 [[ 9.69510022e-01 2.44726788e-01 1.26141238e-02 2.70054072e+02] [-2.44702370e-01 9.69592040e-01 -3.46802885e-03 -5.80829132e+01] [-1.30792736e-02 2.75582747e-04 9.99914425e-01 -5.54124871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72862385300004 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:270.08, Y:-58.09, Z:-5.54 [[ 9.69428291e-01 2.45049839e-01 1.26239921e-02 2.70080567e+02] [-2.45025421e-01 9.69510445e-01 -3.46987986e-03 -5.80899746e+01] [-1.30893857e-02 2.70600721e-04 9.99914294e-01 -5.54202437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.758623853 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:270.11, Y:-58.10, Z:-5.54 [[ 9.69081291e-01 2.46365676e-01 1.36163494e-02 2.70107816e+02] [-2.46337416e-01 9.69176909e-01 -3.74128629e-03 -5.80978216e+01] [-1.41183760e-02 2.71394216e-04 9.99900294e-01 -5.54202146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78862385300005 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:270.13, Y:-58.11, Z:-5.54 [[ 9.68843210e-01 2.47282581e-01 1.39341412e-02 2.70134760e+02] [-2.47253090e-01 9.68943371e-01 -3.82805649e-03 -5.81052666e+01] [-1.44480054e-02 2.63527076e-04 9.99895587e-01 -5.54201370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.818623853 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:270.16, Y:-58.11, Z:-5.54 [[ 9.68181121e-01 2.49851903e-01 1.41188839e-02 2.70162025e+02] [-2.49821942e-01 9.68284037e-01 -3.87568591e-03 -5.81127845e+01] [-1.46394374e-02 2.25158923e-04 9.99892812e-01 -5.54167325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84862385300005 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:270.19, Y:-58.12, Z:-5.54 [[ 9.67834106e-01 2.51178366e-01 1.43726118e-02 2.70188752e+02] [-2.51147482e-01 9.67940796e-01 -3.94425628e-03 -5.81202226e+01] [-1.49025492e-02 2.07740488e-04 9.99888929e-01 -5.54233111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.878623853 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:270.21, Y:-58.13, Z:-5.54 [[ 9.67413398e-01 2.52793691e-01 1.43759414e-02 2.70214360e+02] [-2.52762987e-01 9.67520189e-01 -3.94408967e-03 -5.81274825e+01] [-1.49060545e-02 1.81859305e-04 9.99888882e-01 -5.54251821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.908623853 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:270.24, Y:-58.14, Z:-5.54 [[ 9.66444870e-01 2.56451280e-01 1.47327444e-02 2.70241733e+02] [-2.56419479e-01 9.66557150e-01 -4.04051799e-03 -5.81350969e+01] [-1.52762355e-02 1.27175230e-04 9.99883303e-01 -5.54176753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.938623853 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:270.27, Y:-58.14, Z:-5.54 [[ 9.65865370e-01 2.58609522e-01 1.50067540e-02 2.70268585e+02] [-2.58576805e-01 9.65981939e-01 -4.11454178e-03 -5.81417913e+01] [-1.55603130e-02 9.36949125e-05 9.99878927e-01 -5.54225217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.968623853 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:270.30, Y:-58.15, Z:-5.54 [[ 9.64893509e-01 2.62177497e-01 1.56037115e-02 2.70295914e+02] [-2.62142611e-01 9.65019667e-01 -4.27702702e-03 -5.81472882e+01] [-1.61792287e-02 3.64779325e-05 9.99869107e-01 -5.54194119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.998623853 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:270.32, Y:-58.15, Z:-5.54 [[ 9.64445188e-01 2.63819232e-01 1.56490427e-02 2.70323217e+02] [-2.63784378e-01 9.64572140e-01 -4.28825749e-03 -5.81544422e+01] [-1.62259554e-02 7.81631266e-06 9.99868350e-01 -5.54235766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.028623853 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:270.35, Y:-58.16, Z:-5.54 [[ 9.64065423e-01 2.65225849e-01 1.52678982e-02 2.70349899e+02] [-2.65192866e-01 9.64186314e-01 -4.18268755e-03 -5.81611817e+01] [-1.58304553e-02 -1.65532313e-05 9.99874690e-01 -5.54252350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05862385300003 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:270.38, Y:-58.17, Z:-5.54 [[ 9.63203753e-01 2.68368696e-01 1.47232406e-02 2.70377719e+02] [-2.68338407e-01 9.63316271e-01 -4.03242111e-03 -5.81668238e+01] [-1.52653128e-02 -6.67677729e-05 9.99883476e-01 -5.54312245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.088623853 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:270.40, Y:-58.17, Z:-5.54 [[ 9.62742104e-01 2.70023241e-01 1.46659830e-02 2.70404767e+02] [-2.69993397e-01 9.62853800e-01 -4.01561567e-03 -5.81731621e+01] [-1.52055070e-02 -9.37162707e-05 9.99884385e-01 -5.54382162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11862385300003 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:270.43, Y:-58.18, Z:-5.54 [[ 9.62312952e-01 2.71545078e-01 1.47327262e-02 2.70431653e+02] [-2.71515158e-01 9.62425715e-01 -4.03272902e-03 -5.81792118e+01] [-1.52742222e-02 -1.19411110e-04 9.99883335e-01 -5.54383763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.148623853 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:270.46, Y:-58.18, Z:-5.54 [[ 9.61623191e-01 2.73965428e-01 1.49593732e-02 2.70458358e+02] [-2.73934891e-01 9.61739527e-01 -4.09358606e-03 -5.81832530e+01] [-1.55085215e-02 -1.61406967e-04 9.99879723e-01 -5.54413691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17862385300003 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:270.49, Y:-58.19, Z:-5.54 [[ 9.61477945e-01 2.74478603e-01 1.48881878e-02 2.70485526e+02] [-2.74448432e-01 9.61593192e-01 -4.07314510e-03 -5.81892919e+01] [-1.54343712e-02 -1.69800627e-04 9.99880869e-01 -5.54491414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.208623853 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:270.51, Y:-58.19, Z:-5.55 [[ 9.61530860e-01 2.74312490e-01 1.45280077e-02 2.70511780e+02] [-2.74283790e-01 9.61640593e-01 -3.97138843e-03 -5.81944396e+01] [-1.50601234e-02 -1.66184491e-04 9.99886576e-01 -5.54594470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23862385300004 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:270.54, Y:-58.20, Z:-5.55 [[ 9.61775761e-01 2.73465389e-01 1.42852037e-02 2.70538748e+02] [-2.73437573e-01 9.61881832e-01 -3.90332191e-03 -5.82005067e+01] [-1.48081013e-02 -1.51991019e-04 9.99890343e-01 -5.54661836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.268623853 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:270.56, Y:-58.21, Z:-5.55 [[ 9.62120838e-01 2.72257303e-01 1.41227916e-02 2.70564832e+02] [-2.72230036e-01 9.62224476e-01 -3.85545599e-03 -5.82062510e+01] [-1.46389718e-02 -1.35233532e-04 9.99892835e-01 -5.54731162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29862385300004 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:270.59, Y:-58.21, Z:-5.55 [[ 9.63159789e-01 2.68563317e-01 1.40344486e-02 2.70592763e+02] [-2.68536009e-01 9.63262030e-01 -3.83058709e-03 -5.82113827e+01] [-1.45476066e-02 -7.92873464e-05 9.99894175e-01 -5.54725277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.328623853 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:270.62, Y:-58.22, Z:-5.55 [[ 9.63844661e-01 2.66090091e-01 1.41256424e-02 2.70619628e+02] [-2.66062209e-01 9.63948163e-01 -3.85220841e-03 -5.82173381e+01] [-1.46414215e-02 -4.53691161e-05 9.99892808e-01 -5.54751482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35862385300004 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:270.65, Y:-58.22, Z:-5.55 [[ 9.65214040e-01 2.61068586e-01 1.43195968e-02 2.70646713e+02] [-2.61039406e-01 9.65320254e-01 -3.90331113e-03 -5.82226831e+01] [-1.48420288e-02 2.95516551e-05 9.99889851e-01 -5.54759264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.388623853 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:270.67, Y:-58.23, Z:-5.55 [[ 9.65922283e-01 2.58439104e-01 1.42609076e-02 2.70674028e+02] [-2.58409928e-01 9.66027549e-01 -3.88382129e-03 -5.82296991e+01] [-1.47801609e-02 6.63094269e-05 9.99890765e-01 -5.54824147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41862385300004 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:270.70, Y:-58.24, Z:-5.55 [[ 9.66668432e-01 2.55626651e-01 1.43930065e-02 2.70700266e+02] [-2.55596636e-01 9.66775570e-01 -3.91871984e-03 -5.82365859e+01] [-1.49165363e-02 1.09298723e-04 9.99888736e-01 -5.54848897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.448623853 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:270.73, Y:-58.24, Z:-5.54 [[ 9.67398631e-01 2.52884758e-01 1.37545256e-02 2.70728062e+02] [-2.52857087e-01 9.67496397e-01 -3.74366611e-03 -5.82424572e+01] [-1.42541701e-02 1.43688184e-04 9.99898394e-01 -5.53948576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47862385300004 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:270.75, Y:-58.25, Z:-5.54 [[ 9.68631947e-01 2.48104409e-01 1.40126121e-02 2.70754228e+02] [-2.48075204e-01 9.68733273e-01 -3.81286148e-03 -5.82503015e+01] [-1.45204713e-02 2.17077829e-04 9.99894549e-01 -5.54027723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.508623853 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:270.78, Y:-58.26, Z:-5.55 [[ 9.69202137e-01 2.45819534e-01 1.48315457e-02 2.70780627e+02] [-2.45786570e-01 9.69315577e-01 -4.03422468e-03 -5.82593753e+01] [-1.53681395e-02 2.64584422e-04 9.99881868e-01 -5.55027347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53862385300005 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:270.81, Y:-58.27, Z:-5.55 [[ 9.70192507e-01 2.41876020e-01 1.49161329e-02 2.70806793e+02] [-2.41842231e-01 9.70307108e-01 -4.05613476e-03 -5.82669046e+01] [-1.54543115e-02 3.27880695e-04 9.99880521e-01 -5.55051201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.568623853 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:270.83, Y:-58.27, Z:-5.55 [[ 9.70581060e-01 2.40318485e-01 1.48132134e-02 2.70833722e+02] [-2.40284999e-01 9.70694032e-01 -4.02680696e-03 -5.82739399e+01] [-1.53468140e-02 3.48949616e-04 9.99882170e-01 -5.55114010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59862385300005 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:270.86, Y:-58.28, Z:-5.55 [[ 9.70834914e-01 2.39303762e-01 1.46040469e-02 2.70860080e+02] [-2.39271117e-01 9.70944685e-01 -3.96891006e-03 -5.82813131e+01] [-1.51294968e-02 3.58829855e-04 9.99885478e-01 -5.55161140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.628623853 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:270.89, Y:-58.29, Z:-5.55 [[ 9.71190025e-01 2.37861397e-01 1.45565083e-02 2.70886054e+02] [-2.37828821e-01 9.71299033e-01 -3.95470253e-03 -5.82898463e+01] [-1.50793936e-02 3.78810424e-04 9.99886228e-01 -5.55210642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.658623853 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:270.91, Y:-58.30, Z:-5.54 [[ 9.71331164e-01 2.37326062e-01 1.38604216e-02 2.70912766e+02] [-2.37296485e-01 9.71429980e-01 -3.76469589e-03 -5.82962622e+01] [-1.43578895e-02 3.67737113e-04 9.99896853e-01 -5.54424852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.688623853 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:270.94, Y:-58.31, Z:-5.55 [[ 9.71340297e-01 2.37250907e-01 1.44925647e-02 2.70939023e+02] [-2.37218597e-01 9.71448331e-01 -3.93408773e-03 -5.83055631e+01] [-1.50121436e-02 3.83432083e-04 9.99887238e-01 -5.55313257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.718623853 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:270.97, Y:-58.31, Z:-5.55 [[ 9.71380748e-01 2.37085226e-01 1.44927197e-02 2.70966555e+02] [-2.37052906e-01 9.71488779e-01 -3.93351666e-03 -5.83128463e+01] [-1.50120932e-02 3.85401031e-04 9.99887238e-01 -5.55368213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.748623853 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:270.99, Y:-58.32, Z:-5.55 [[ 9.71385013e-01 2.37077339e-01 1.43350112e-02 2.70993142e+02] [-2.37045763e-01 9.71490706e-01 -3.88765237e-03 -5.83210400e+01] [-1.48480044e-02 3.78353575e-04 9.99889691e-01 -5.55423728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.778623853 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:271.02, Y:-58.33, Z:-5.56 [[ 9.71383903e-01 2.37115281e-01 1.37716083e-02 2.71017950e+02] [-2.37086155e-01 9.71481453e-01 -3.73396465e-03 -5.83312370e+01] [-1.42642421e-02 3.62055494e-04 9.99898195e-01 -5.55531013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80862385300003 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:271.04, Y:-58.34, Z:-5.56 [[ 9.71357488e-01 2.37231800e-01 1.36272936e-02 2.71044419e+02] [-2.37203310e-01 9.71453008e-01 -3.69362937e-03 -5.83404638e+01] [-1.41145217e-02 3.55395403e-04 9.99900322e-01 -5.55586953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.838623853 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:271.07, Y:-58.35, Z:-5.56 [[ 9.71128383e-01 2.38179122e-01 1.34302038e-02 2.71069644e+02] [-2.38151553e-01 9.71221186e-01 -3.63931644e-03 -5.83507637e+01] [-1.39105077e-02 3.35819588e-04 9.99903188e-01 -5.55622353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86862385300003 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:271.10, Y:-58.36, Z:-5.55 [[ 9.70945711e-01 2.38974837e-01 1.24681113e-02 2.71096601e+02] [-2.38951156e-01 9.71025714e-01 -3.37759571e-03 -5.83573382e+01] [-1.29140171e-02 3.00192460e-04 9.99916566e-01 -5.54720674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.898623853 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:271.12, Y:-58.37, Z:-5.56 [[ 9.70652933e-01 2.40137667e-01 1.29144919e-02 2.71122422e+02] [-2.40112375e-01 9.70738798e-01 -3.49754898e-03 -5.83678153e+01] [-1.33764916e-02 2.93976853e-04 9.99910488e-01 -5.55725625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92862385300003 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:271.15, Y:-58.38, Z:-5.55 [[ 9.69980248e-01 2.42904154e-01 1.16571960e-02 2.71149404e+02] [-2.42883755e-01 9.70050266e-01 -3.15638777e-03 -5.83763749e+01] [-1.20747658e-02 2.30290267e-04 9.99927071e-01 -5.54847988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.958623853 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:271.17, Y:-58.39, Z:-5.56 [[ 9.69509593e-01 2.44765867e-01 1.18667631e-02 2.71174786e+02] [-2.44744874e-01 9.69582191e-01 -3.21260035e-03 -5.83869769e+01] [-1.22921371e-02 2.10317423e-04 9.99924427e-01 -5.55807062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98862385300004 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:271.20, Y:-58.40, Z:-5.56 [[ 9.68458647e-01 2.48902157e-01 1.16432326e-02 2.71201192e+02] [-2.48882271e-01 9.68528623e-01 -3.15003785e-03 -5.83975125e+01] [-1.20608552e-02 1.52887242e-04 9.99927254e-01 -5.55861517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.018623853 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:271.23, Y:-58.41, Z:-5.56 [[ 9.67824561e-01 2.51342504e-01 1.19400572e-02 2.71228403e+02] [-2.51321786e-01 9.67898202e-01 -3.22951283e-03 -5.84057237e+01] [-1.23684738e-02 1.24805332e-04 9.99923500e-01 -5.55871525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04862385300004 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:271.25, Y:-58.41, Z:-5.56 [[ 9.66394300e-01 2.56767331e-01 1.23529211e-02 2.71254096e+02] [-2.56745610e-01 9.66473246e-01 -3.34023987e-03 -5.84128812e+01] [-1.27964322e-02 5.64305225e-05 9.99918121e-01 -5.55836806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.078623853 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:271.28, Y:-58.42, Z:-5.56 [[ 9.65653097e-01 2.59534767e-01 1.24820520e-02 2.71280896e+02] [-2.59512835e-01 9.65733765e-01 -3.37400447e-03 -5.84191319e+01] [-1.29300106e-02 1.88651547e-05 9.99916404e-01 -5.55547653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10862385300004 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:271.31, Y:-58.43, Z:-5.56 [[ 9.64888681e-01 2.62331592e-01 1.31136802e-02 2.71307329e+02] [-2.62307661e-01 9.64977790e-01 -3.54338777e-03 -5.84271537e+01] [-1.35839527e-02 -2.08440423e-05 9.99907734e-01 -5.55933691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.138623853 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:271.33, Y:-58.43, Z:-5.56 [[ 9.64109320e-01 2.65177918e-01 1.31867593e-02 2.71333976e+02] [-2.65154000e-01 9.64199496e-01 -3.56212979e-03 -5.84342437e+01] [-1.36592648e-02 -6.22394388e-05 9.99906706e-01 -5.55945423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16862385300004 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:271.36, Y:-58.44, Z:-5.56 [[ 9.62662247e-01 2.70387113e-01 1.31227708e-02 2.71359757e+02] [-2.70363922e-01 9.62751676e-01 -3.54389653e-03 -5.84410804e+01] [-1.35921936e-02 -1.36348396e-04 9.99907613e-01 -5.56025014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.198623853 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:271.39, Y:-58.45, Z:-5.56 [[ 9.61399079e-01 2.74858672e-01 1.28265455e-02 2.71387460e+02] [-2.74836930e-01 9.61484619e-01 -3.46270053e-03 -5.84474739e+01] [-1.32842795e-02 -1.96171275e-04 9.99911741e-01 -5.56065046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22862385300004 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:271.41, Y:-58.45, Z:-5.56 [[ 9.60834156e-01 2.76816675e-01 1.30481414e-02 2.71414320e+02] [-2.76794368e-01 9.60922722e-01 -3.52155251e-03 -5.84532727e+01] [-1.35130800e-02 -2.28024117e-04 9.99908668e-01 -5.56125951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.258623853 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:271.44, Y:-58.46, Z:-5.56 [[ 9.60235427e-01 2.78868785e-01 1.34210776e-02 2.71440719e+02] [-2.78845399e-01 9.60329178e-01 -3.62119895e-03 -5.84586768e+01] [-1.38984917e-02 -2.65202200e-04 9.99903376e-01 -5.56131466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28862385300005 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:271.47, Y:-58.46, Z:-5.56 [[ 9.59739171e-01 2.80560897e-01 1.36493920e-02 2.71468765e+02] [-2.80536903e-01 9.59836181e-01 -3.68117118e-03 -5.84638620e+01] [-1.41339730e-02 -2.96193968e-04 9.99900067e-01 -5.56122271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.318623853 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:271.50, Y:-58.47, Z:-5.56 [[ 9.58721146e-01 2.84011877e-01 1.38209532e-02 2.71496113e+02] [-2.83987682e-01 9.58820696e-01 -3.72403822e-03 -5.84670734e+01] [-1.43094871e-02 -3.54666282e-04 9.99897551e-01 -5.56163002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34862385300005 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:271.52, Y:-58.47, Z:-5.56 [[ 9.58056670e-01 2.86253582e-01 1.36492985e-02 2.71523642e+02] [-2.86230219e-01 9.58153818e-01 -3.67719808e-03 -5.84709735e+01] [-1.41307386e-02 -3.83877557e-04 9.99900082e-01 -5.56254574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.378623853 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:271.55, Y:-58.48, Z:-5.56 [[ 9.57896697e-01 2.86798450e-01 1.34375249e-02 2.71550548e+02] [-2.86775908e-01 9.57990865e-01 -3.61679059e-03 -5.84761800e+01] [-1.39103160e-02 -3.89046629e-04 9.99903171e-01 -5.56323929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.408623853 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:271.58, Y:-58.48, Z:-5.56 [[ 9.57844292e-01 2.86995026e-01 1.29679317e-02 2.71577075e+02] [-2.86974065e-01 9.57931997e-01 -3.48925559e-03 -5.84805064e+01] [-1.34237957e-02 -3.79296524e-04 9.99909825e-01 -5.56437998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.438623853 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:271.61, Y:-58.49, Z:-5.57 [[ 9.57989015e-01 2.86530886e-01 1.25339360e-02 2.71605298e+02] [-2.86511269e-01 9.58070938e-01 -3.37214243e-03 -5.84851200e+01] [-1.29746228e-02 -3.60638507e-04 9.99915761e-01 -5.56528162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.468623853 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:271.63, Y:-58.49, Z:-5.57 [[ 9.58673248e-01 2.84230701e-01 1.25901762e-02 2.71633660e+02] [-2.84210741e-01 9.58755859e-01 -3.38478821e-03 -5.84871840e+01] [-1.30329659e-02 -3.33357395e-04 9.99915012e-01 -5.56536731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.498623853 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:271.66, Y:-58.49, Z:-5.57 [[ 9.60017098e-01 2.79658234e-01 1.25874367e-02 2.71661362e+02] [-2.79637923e-01 9.60099577e-01 -3.38147334e-03 -5.84901271e+01] [-1.30308495e-02 -2.73652441e-04 9.99915057e-01 -5.56617531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.528623853 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:271.69, Y:-58.50, Z:-5.57 [[ 9.60983619e-01 2.76343154e-01 1.20392954e-02 2.71687840e+02] [-2.76324348e-01 9.61059006e-01 -3.23147248e-03 -5.84956331e+01] [-1.24634685e-02 -2.21358318e-04 9.99922303e-01 -5.56686403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55862385300003 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:271.71, Y:-58.50, Z:-5.57 [[ 9.61915026e-01 2.73080218e-01 1.21110634e-02 2.71713863e+02] [-2.73060950e-01 9.61991248e-01 -3.24900834e-03 -5.85009990e+01] [-1.25379769e-02 -1.81788540e-04 9.99921380e-01 -5.56778501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.588623853 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:271.74, Y:-58.51, Z:-5.57 [[ 9.63870018e-01 2.66098052e-01 1.21002172e-02 2.71741226e+02] [-2.66078283e-01 9.63945962e-01 -3.24483398e-03 -5.85053840e+01] [-1.25273995e-02 -9.20068326e-05 9.99921525e-01 -5.56785109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61862385300003 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:271.77, Y:-58.51, Z:-5.57 [[ 9.64884434e-01 2.62378185e-01 1.24786860e-02 2.71768734e+02] [-2.62356883e-01 9.64965122e-01 -3.34367624e-03 -5.85108640e+01] [-1.29188045e-02 -4.76080074e-05 9.99916548e-01 -5.56822014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.648623853 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:271.80, Y:-58.52, Z:-5.57 [[ 9.65811360e-01 2.58929325e-01 1.28070776e-02 2.71796291e+02] [-2.58906620e-01 9.65896270e-01 -3.42890178e-03 -5.85168376e+01] [-1.32581517e-02 -4.16487104e-06 9.99912107e-01 -5.56842382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67862385300003 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:271.82, Y:-58.52, Z:-5.57 [[ 9.67425362e-01 2.52816830e-01 1.31080160e-02 2.71823112e+02] [-2.52792527e-01 9.67514157e-01 -3.50628255e-03 -5.85215401e+01] [-1.35686382e-02 7.84581853e-05 9.99907939e-01 -5.56885873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.708623853 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:271.85, Y:-58.53, Z:-5.57 [[ 9.68144268e-01 2.50060083e-01 1.29086048e-02 2.71849761e+02] [-2.50036297e-01 9.68230315e-01 -3.45085158e-03 -5.85275331e+01] [-1.33614227e-02 1.13302434e-04 9.99910726e-01 -5.56920144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73862385300004 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:271.88, Y:-58.53, Z:-5.57 [[ 9.68828728e-01 2.47382215e-01 1.31505136e-02 2.71877156e+02] [-2.47357290e-01 9.68917962e-01 -3.51492206e-03 -5.85338365e+01] [-1.36112981e-02 1.52482052e-04 9.99907350e-01 -5.57007766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.768623853 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:271.90, Y:-58.54, Z:-5.57 [[ 9.70014789e-01 2.42693555e-01 1.30823420e-02 2.71903475e+02] [-2.42668502e-01 9.70102980e-01 -3.49372709e-03 -5.85398967e+01] [-1.35391240e-02 2.14294625e-04 9.99908319e-01 -5.57064926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79862385300004 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:271.93, Y:-58.55, Z:-5.57 [[ 9.70493324e-01 2.40777153e-01 1.30026948e-02 2.71930562e+02] [-2.40752259e-01 9.70580397e-01 -3.47035466e-03 -5.85469441e+01] [-1.34557428e-02 2.37527879e-04 9.99909439e-01 -5.57117555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.828623853 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:271.96, Y:-58.55, Z:-5.57 [[ 9.71297807e-01 2.37514663e-01 1.29365633e-02 2.71957595e+02] [-2.37489746e-01 9.71383913e-01 -3.45172153e-03 -5.85535016e+01] [-1.33862039e-02 2.80348428e-04 9.99910361e-01 -5.57141457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85862385300004 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:271.98, Y:-58.56, Z:-5.57 [[ 9.71669482e-01 2.35985097e-01 1.30173756e-02 2.71984785e+02] [-2.35959743e-01 9.71756627e-01 -3.47228469e-03 -5.85609829e+01] [-1.34691285e-02 3.02336454e-04 9.99909241e-01 -5.57174373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.888623853 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:272.01, Y:-58.57, Z:-5.57 [[ 9.71960426e-01 2.34783216e-01 1.30296727e-02 2.72010340e+02] [-2.34757715e-01 9.72047705e-01 -3.47491966e-03 -5.85689586e+01] [-1.34813163e-02 3.18668197e-04 9.99909072e-01 -5.57230737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91862385300004 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:272.04, Y:-58.58, Z:-5.57 [[ 9.72236347e-01 2.33650848e-01 1.27971535e-02 2.72037588e+02] [-2.33626179e-01 9.72320510e-01 -3.41080722e-03 -5.85773431e+01] [-1.32398729e-02 3.26360666e-04 9.99912296e-01 -5.57263929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.948623853 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:272.06, Y:-58.59, Z:-5.57 [[ 9.72437656e-01 2.32795744e-01 1.30823135e-02 2.72063928e+02] [-2.32769899e-01 9.72525590e-01 -3.48580888e-03 -5.85856627e+01] [-1.35343661e-02 3.44563031e-04 9.99908347e-01 -5.57295261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97862385300004 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:272.09, Y:-58.59, Z:-5.57 [[ 9.72396282e-01 2.32952152e-01 1.33703276e-02 2.72089839e+02] [-2.32925185e-01 9.72488135e-01 -3.56155579e-03 -5.85932316e+01] [-1.38321571e-02 3.48957563e-04 9.99904270e-01 -5.57333493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.008623853 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:272.12, Y:-58.60, Z:-5.57 [[ 9.72262389e-01 2.33495938e-01 1.36196096e-02 2.72115300e+02] [-2.33468025e-01 9.72357715e-01 -3.62695803e-03 -5.86011284e+01] [-1.40900124e-02 3.46611530e-04 9.99900671e-01 -5.57351594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03862385300005 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:272.14, Y:-58.61, Z:-5.57 [[ 9.71894969e-01 2.35015639e-01 1.37047035e-02 2.72141281e+02] [-2.34987557e-01 9.71991535e-01 -3.64743345e-03 -5.86100229e+01] [-1.41780597e-02 3.24487433e-04 9.99899434e-01 -5.57408798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.068623853 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:272.17, Y:-58.62, Z:-5.57 [[ 9.71725827e-01 2.35712897e-01 1.37240047e-02 2.72168455e+02] [-2.35684822e-01 9.71822685e-01 -3.65142324e-03 -5.86183964e+01] [-1.41979867e-02 3.13642660e-04 9.99899154e-01 -5.57454651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09862385300005 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:272.19, Y:-58.63, Z:-5.58 [[ 9.71243472e-01 2.37687571e-01 1.38107699e-02 2.72193814e+02] [-2.37659354e-01 9.71341617e-01 -3.67349725e-03 -5.86290503e+01] [-1.42881202e-02 2.85601571e-04 9.99897879e-01 -5.57539884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.128623853 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:272.22, Y:-58.64, Z:-5.58 [[ 9.71011468e-01 2.38620044e-01 1.40429169e-02 2.72220949e+02] [-2.38590987e-01 9.71112969e-01 -3.73390545e-03 -5.86376051e+01] [-1.45282434e-02 2.75151615e-04 9.99894422e-01 -5.57581211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.158623853 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:272.25, Y:-58.65, Z:-5.58 [[ 9.70707244e-01 2.39838434e-01 1.43168657e-02 2.72246591e+02] [-2.39808381e-01 9.70812782e-01 -3.80567664e-03 -5.86458591e+01] [-1.48117437e-02 2.60893510e-04 9.99890266e-01 -5.57638754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.188623853 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:272.27, Y:-58.66, Z:-5.58 [[ 9.70047452e-01 2.42581505e-01 1.27339798e-02 2.72273282e+02] [-2.42557980e-01 9.70131010e-01 -3.38387692e-03 -5.86562070e+01] [-1.31744946e-02 1.93792777e-04 9.99913194e-01 -5.57719322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.218623853 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:272.30, Y:-58.66, Z:-5.58 [[ 9.69665125e-01 2.44129335e-01 1.22643223e-02 2.72300229e+02] [-2.44107647e-01 9.69742667e-01 -3.25822248e-03 -5.86646450e+01] [-1.26886643e-02 1.65569839e-04 9.99919482e-01 -5.57833710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.248623853 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:272.33, Y:-58.67, Z:-5.58 [[ 9.69156057e-01 2.46155852e-01 1.19930632e-02 2.72327261e+02] [-2.46135279e-01 9.69230250e-01 -3.18528298e-03 -5.86732629e+01] [-1.24081157e-02 1.35120337e-04 9.99923007e-01 -5.57885556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.278623853 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:272.35, Y:-58.68, Z:-5.58 [[ 9.67983041e-01 2.50745926e-01 1.16324424e-02 2.72352752e+02] [-2.50726912e-01 9.68052930e-01 -3.08875149e-03 -5.86827660e+01] [-1.20353118e-02 7.32927017e-05 9.99927570e-01 -5.57920195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30862385300003 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:272.38, Y:-58.69, Z:-5.58 [[ 9.67337738e-01 2.53225417e-01 1.16012270e-02 2.72380188e+02] [-2.53206696e-01 9.67407301e-01 -3.07935122e-03 -5.86904362e+01] [-1.20028817e-02 4.12642788e-05 9.99927962e-01 -5.57978876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.338623853 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:272.41, Y:-58.70, Z:-5.58 [[ 9.65968669e-01 2.58403662e-01 1.14925448e-02 2.72406904e+02] [-2.58385666e-01 9.66037032e-01 -3.04967182e-03 -5.86978621e+01] [-1.18902702e-02 -2.36214211e-05 9.99929308e-01 -5.58008166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36862385300003 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:272.43, Y:-58.70, Z:-5.58 [[ 9.65261008e-01 2.61035674e-01 1.14701162e-02 2.72433270e+02] [-2.61017944e-01 9.65329153e-01 -3.04292432e-03 -5.87049938e+01] [-1.18667493e-02 -5.66899359e-05 9.99929586e-01 -5.58081499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.398623853 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:272.46, Y:-58.71, Z:-5.58 [[ 9.64655244e-01 2.63267384e-01 1.14256129e-02 2.72460560e+02] [-2.63249950e-01 9.64722902e-01 -3.03088792e-03 -5.87123951e+01] [-1.18204843e-02 -8.40300845e-05 9.99930132e-01 -5.58130471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42862385300003 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:272.49, Y:-58.72, Z:-5.58 [[ 9.64126158e-01 2.65196954e-01 1.14598231e-02 2.72487184e+02] [-2.65179589e-01 9.64194256e-01 -3.03678440e-03 -5.87196705e+01] [-1.18548416e-02 -1.11067901e-04 9.99929723e-01 -5.58195027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.458623853 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:272.51, Y:-58.73, Z:-5.58 [[ 9.63323026e-01 2.68107225e-01 1.12811093e-02 2.72512845e+02] [-2.68090607e-01 9.63389067e-01 -2.98865321e-03 -5.87274167e+01] [-1.16693769e-02 -1.45320993e-04 9.99931900e-01 -5.58251467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48862385300004 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:272.54, Y:-58.73, Z:-5.58 [[ 9.63077039e-01 2.68988530e-01 1.13043240e-02 2.72538717e+02] [-2.68971916e-01 9.63143367e-01 -2.99374375e-03 -5.87348976e+01] [-1.16929674e-02 -1.57339813e-04 9.99931623e-01 -5.58317217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.518623853 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:272.57, Y:-58.74, Z:-5.58 [[ 9.62827344e-01 2.69871804e-01 1.15201641e-02 2.72565267e+02] [-2.69854616e-01 9.62896246e-01 -3.05061134e-03 -5.87421979e+01] [-1.19159968e-02 -1.71557449e-04 9.99928987e-01 -5.58360992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54862385300004 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:272.59, Y:-58.75, Z:-5.58 [[ 9.62814386e-01 2.69904503e-01 1.18329057e-02 2.72591696e+02] [-2.69886412e-01 9.62887079e-01 -3.13019337e-03 -5.87486487e+01] [-1.22386053e-02 -1.79745240e-04 9.99925089e-01 -5.58381807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.578623853 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:272.62, Y:-58.75, Z:-5.58 [[ 9.62959085e-01 2.69378627e-01 1.20397455e-02 2.72619544e+02] [-2.69359860e-01 9.63034332e-01 -3.18461976e-03 -5.87548214e+01] [-1.24525567e-02 -1.76365623e-04 9.99922448e-01 -5.57611415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60862385300004 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:272.64, Y:-58.76, Z:-5.59 [[ 9.63085345e-01 2.68893793e-01 1.27571800e-02 2.72644964e+02] [-2.68872727e-01 9.63169816e-01 -3.37085583e-03 -5.87641009e+01] [-1.31937329e-02 -1.83635923e-04 9.99912942e-01 -5.58516391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.638623853 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:272.67, Y:-58.77, Z:-5.59 [[ 9.63243100e-01 2.68311876e-01 1.30945375e-02 2.72671531e+02] [-2.68289644e-01 9.63332084e-01 -3.45871600e-03 -5.87713297e+01] [-1.35424027e-02 -1.81544490e-04 9.99908281e-01 -5.58551862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66862385300004 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:272.70, Y:-58.78, Z:-5.59 [[ 9.63291320e-01 2.68138704e-01 1.30946277e-02 2.72699115e+02] [-2.68116460e-01 9.63380301e-01 -3.45837463e-03 -5.87784225e+01] [-1.35424305e-02 -1.79462978e-04 9.99908281e-01 -5.58606821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.698623853 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:272.73, Y:-58.79, Z:-5.59 [[ 9.63590758e-01 2.67027417e-01 1.37553737e-02 2.72725377e+02] [-2.67002806e-01 9.63688917e-01 -3.62955004e-03 -5.87853973e+01] [-1.42250906e-02 -1.75322508e-04 9.99898803e-01 -5.58648913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72862385300004 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:272.75, Y:-58.79, Z:-5.59 [[ 9.63812185e-01 2.66218984e-01 1.39113241e-02 2.72752647e+02] [-2.66193738e-01 9.63912561e-01 -3.66996140e-03 -5.87925081e+01] [-1.43863134e-02 -1.65953853e-04 9.99896498e-01 -5.58638017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.758623853 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:272.78, Y:-58.80, Z:-5.59 [[ 9.64237787e-01 2.64686958e-01 1.36493700e-02 2.72779660e+02] [-2.64662538e-01 9.64334379e-01 -3.59821930e-03 -5.87991777e+01] [-1.41149584e-02 -1.42937879e-04 9.99900369e-01 -5.58642722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78862385300005 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:272.81, Y:-58.81, Z:-5.59 [[ 9.64475063e-01 2.63820292e-01 1.36640551e-02 2.72807041e+02] [-2.63795780e-01 9.64571841e-01 -3.59872669e-03 -5.88064146e+01] [-1.41293799e-02 -1.33637916e-04 9.99900166e-01 -5.58723335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.818623853 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:272.83, Y:-58.81, Z:-5.59 [[ 9.64643700e-01 2.63207130e-01 1.35845413e-02 2.72833371e+02] [-2.63182855e-01 9.64739339e-01 -3.57680331e-03 -5.88134582e+01] [-1.40469815e-02 -1.24877582e-04 9.99901328e-01 -5.58774413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84862385300005 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:272.86, Y:-58.82, Z:-5.59 [[ 9.64803246e-01 2.62634618e-01 1.33324336e-02 2.72859249e+02] [-2.62611194e-01 9.64895354e-01 -3.50951937e-03 -5.88200340e+01] [-1.37861245e-02 -1.15250616e-04 9.99904960e-01 -5.58789800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.878623853 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:272.89, Y:-58.83, Z:-5.59 [[ 9.65189487e-01 2.61200532e-01 1.35475307e-02 2.72886677e+02] [-2.61176227e-01 9.65284555e-01 -3.56449502e-03 -5.88256841e+01] [-1.40082701e-02 -9.78798276e-05 9.99901875e-01 -5.58801648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.908623853 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:272.91, Y:-58.83, Z:-5.59 [[ 9.65361542e-01 2.60542591e-01 1.39517451e-02 2.72913740e+02] [-2.60516795e-01 9.65462350e-01 -3.66744328e-03 -5.88322696e+01] [-1.44254098e-02 -9.42552195e-05 9.99895944e-01 -5.58841190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.938623853 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:272.94, Y:-58.84, Z:-5.59 [[ 9.65712729e-01 2.59220964e-01 1.42624408e-02 2.72940182e+02] [-2.59193878e-01 9.65818040e-01 -3.74803869e-03 -5.88388170e+01] [-1.47464928e-02 -7.72086759e-05 9.99891262e-01 -5.58904092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.968623853 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:272.97, Y:-58.85, Z:-5.59 [[ 9.65824288e-01 2.58822021e-01 1.39501382e-02 2.72965985e+02] [-2.58796085e-01 9.65925026e-01 -3.66474891e-03 -5.88452026e+01] [-1.44233053e-02 -7.07376251e-05 9.99895976e-01 -5.58911833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.998623853 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:272.99, Y:-58.85, Z:-5.59 [[ 9.65961768e-01 2.58309693e-01 1.39271331e-02 2.72992730e+02] [-2.58283807e-01 9.66062161e-01 -3.65740678e-03 -5.88516668e+01] [-1.43992200e-02 -6.42378426e-05 9.99896324e-01 -5.59000033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.028623853 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:273.02, Y:-58.86, Z:-5.59 [[ 9.66274437e-01 2.57135906e-01 1.39584697e-02 2.73020563e+02] [-2.57109796e-01 9.66375250e-01 -3.66457565e-03 -5.88577525e+01] [-1.44314137e-02 -4.78735385e-05 9.99895861e-01 -5.59076708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05862385300003 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:273.05, Y:-58.86, Z:-5.59 [[ 9.66369442e-01 2.56814121e-01 1.32894065e-02 2.73048143e+02] [-2.56790437e-01 9.66460814e-01 -3.48798866e-03 -5.88642177e+01] [-1.37394554e-02 -4.19068636e-05 9.99905608e-01 -5.59084485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.088623853 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:273.08, Y:-58.87, Z:-5.59 [[ 9.66506810e-01 2.56322766e-01 1.27760200e-02 2.73075315e+02] [-2.56300846e-01 9.66591247e-01 -3.35234382e-03 -5.88707212e+01] [-1.32084712e-02 -3.44416069e-05 9.99912764e-01 -5.59179831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11862385300003 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:273.10, Y:-58.88, Z:-5.59 [[ 9.66937420e-01 2.54711804e-01 1.24066015e-02 2.73101983e+02] [-2.54691010e-01 9.67017010e-01 -3.25459694e-03 -5.88768317e+01] [-1.28263790e-02 -1.28583097e-05 9.99917739e-01 -5.59247400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.148623853 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:273.13, Y:-58.88, Z:-5.59 [[ 9.67248987e-01 2.53530417e-01 1.23176206e-02 2.73129005e+02] [-2.53509840e-01 9.67327415e-01 -3.23011042e-03 -5.88838140e+01] [-1.27341033e-02 1.68301031e-06 9.99918918e-01 -5.59321377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17862385300003 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:273.15, Y:-58.89, Z:-5.59 [[ 9.68047015e-01 2.50483004e-01 1.19683365e-02 2.73154700e+02] [-2.50463353e-01 9.68120996e-01 -3.13774629e-03 -5.88915388e+01] [-1.23727500e-02 3.98562324e-05 9.99923454e-01 -5.59412990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.208623853 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:273.18, Y:-58.90, Z:-5.59 [[ 9.68467079e-01 2.48862212e-01 1.17947970e-02 2.73181957e+02] [-2.48843020e-01 9.68538898e-01 -3.09117250e-03 -5.88991335e+01] [-1.21929957e-02 5.86458872e-05 9.99925661e-01 -5.59453907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23862385300004 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:273.21, Y:-58.91, Z:-5.59 [[ 9.68871045e-01 2.47284889e-01 1.17933143e-02 2.73208715e+02] [-2.47265596e-01 9.68942814e-01 -3.08991779e-03 -5.89069990e+01] [-1.21911371e-02 7.76509900e-05 9.99925682e-01 -5.59457029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.268623853 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:273.23, Y:-58.92, Z:-5.59 [[ 9.69493146e-01 2.44785459e-01 1.27718021e-02 2.73234313e+02] [-2.44762627e-01 9.69577261e-01 -3.34530787e-03 -5.89152814e+01] [-1.32021316e-02 1.17193233e-04 9.99912841e-01 -5.59481898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29862385300004 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:273.26, Y:-58.92, Z:-5.60 [[ 9.69674144e-01 2.44048536e-01 1.31288526e-02 2.73260748e+02] [-2.44024358e-01 9.69763010e-01 -3.43759409e-03 -5.89230960e+01] [-1.35708154e-02 1.29586277e-04 9.99907904e-01 -5.59507365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.328623853 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:273.29, Y:-58.93, Z:-5.60 [[ 9.69817146e-01 2.43474894e-01 1.32166029e-02 2.73286719e+02] [-2.43450348e-01 9.69907190e-01 -3.45993388e-03 -5.89309166e+01] [-1.36612853e-02 1.37916608e-04 9.99906671e-01 -5.59551474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35862385300004 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:273.31, Y:-58.94, Z:-5.60 [[ 9.69855441e-01 2.43324690e-01 1.31726402e-02 2.73313129e+02] [-2.43300321e-01 9.69944883e-01 -3.44637775e-03 -5.89404766e+01] [-1.36153237e-02 1.37580623e-04 9.99907298e-01 -5.59581890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.388623853 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:273.34, Y:-58.95, Z:-5.60 [[ 9.69846200e-01 2.43354158e-01 1.33079473e-02 2.73339522e+02] [-2.43329302e-01 9.69937490e-01 -3.48081499e-03 -5.89484075e+01] [-1.37549478e-02 1.37641671e-04 9.99905387e-01 -5.59643016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41862385300004 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:273.36, Y:-58.96, Z:-5.60 [[ 9.69628799e-01 2.44237724e-01 1.29586324e-02 2.73364965e+02] [-2.44214246e-01 9.69715381e-01 -3.38863109e-03 -5.89581127e+01] [-1.33938167e-02 1.21031657e-04 9.99910291e-01 -5.59700180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.448623853 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:273.39, Y:-58.97, Z:-5.60 [[ 9.69507684e-01 2.44729131e-01 1.27476684e-02 2.73390477e+02] [-2.44706467e-01 9.69591481e-01 -3.33243258e-03 -5.89662148e+01] [-1.31755740e-02 1.11382104e-04 9.99913192e-01 -5.59768850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47862385300004 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:273.42, Y:-58.97, Z:-5.60 [[ 9.69362513e-01 2.45314871e-01 1.25272497e-02 2.73417452e+02] [-2.45293047e-01 9.69443451e-01 -3.27374889e-03 -5.89746393e+01] [-1.29475594e-02 1.00602208e-04 9.99916172e-01 -5.59838641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.508623853 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:273.44, Y:-58.98, Z:-5.60 [[ 9.69093056e-01 2.46384203e-01 1.23884239e-02 2.73444329e+02] [-2.46362957e-01 9.69172233e-01 -3.23664095e-03 -5.89824601e+01] [-1.28039736e-02 8.45575269e-05 9.99918022e-01 -5.59873021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53862385300005 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:273.47, Y:-58.99, Z:-5.60 [[ 9.68227427e-01 2.49790138e-01 1.18548427e-02 2.73469773e+02] [-2.49770948e-01 9.68299998e-01 -3.09645743e-03 -5.89911578e+01] [-1.22525087e-02 3.70797168e-05 9.99924935e-01 -5.59915606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.568623853 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:273.50, Y:-59.00, Z:-5.60 [[ 9.67657466e-01 2.52006928e-01 1.14689318e-02 2.73495713e+02] [-2.51989135e-01 9.67725430e-01 -2.99459078e-03 -5.89982682e+01] [-1.18534346e-02 7.69192474e-06 9.99929746e-01 -5.59985066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59862385300005 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:273.52, Y:-59.01, Z:-5.60 [[ 9.66307587e-01 2.57124950e-01 1.16793557e-02 2.73523278e+02] [-2.57106874e-01 9.66378165e-01 -3.04929828e-03 -5.90050947e+01] [-1.20707250e-02 -5.62825700e-05 9.99927145e-01 -5.59956815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.628623853 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:273.55, Y:-59.01, Z:-5.60 [[ 9.65572763e-01 2.59861142e-01 1.18922822e-02 2.73549040e+02] [-2.59842645e-01 9.65645990e-01 -3.10188283e-03 -5.90115191e+01] [-1.22897934e-02 -9.50284824e-05 9.99924473e-01 -5.59977449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.658623853 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:273.58, Y:-59.02, Z:-5.60 [[ 9.64910767e-01 2.62299320e-01 1.20945450e-02 2.73576759e+02] [-2.62280394e-01 9.64986554e-01 -3.15360512e-03 -5.90178337e+01] [-1.24982617e-02 -1.29214483e-04 9.99921885e-01 -5.59949142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.688623853 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:273.60, Y:-59.02, Z:-5.60 [[ 9.63659814e-01 2.66814326e-01 1.30337340e-02 2.73603345e+02] [-2.66792772e-01 9.63747931e-01 -3.39743513e-03 -5.90224198e+01] [-1.34677186e-02 -2.03334331e-04 9.99909285e-01 -5.59953236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.718623853 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:273.63, Y:-59.03, Z:-5.60 [[ 9.63304564e-01 2.68084433e-01 1.32307775e-02 2.73630580e+02] [-2.68062351e-01 9.63395395e-01 -3.44815236e-03 -5.90281859e+01] [-1.36708660e-02 -2.25052401e-04 9.99906524e-01 -5.60022964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.748623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:273.66, Y:-59.03, Z:-5.60 [[ 9.62918715e-01 2.69482386e-01 1.29147660e-02 2.73657430e+02] [-2.69461514e-01 9.63005288e-01 -3.36271637e-03 -5.90334077e+01] [-1.33431808e-02 -2.42009865e-04 9.99910947e-01 -5.60104673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.778623853 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:273.68, Y:-59.04, Z:-5.60 [[ 9.62851177e-01 2.69724545e-01 1.28949884e-02 2.73684329e+02] [-2.69703764e-01 9.62937490e-01 -3.35709035e-03 -5.90393939e+01] [-1.33225574e-02 -2.45448520e-04 9.99911221e-01 -5.60170646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80862385300003 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:273.71, Y:-59.05, Z:-5.60 [[ 9.62896632e-01 2.69576948e-01 1.25835439e-02 2.73710695e+02] [-2.69557182e-01 9.62978822e-01 -3.27330826e-03 -5.90454988e+01] [-1.30000947e-02 -2.40127123e-04 9.99915466e-01 -5.60195173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.838623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:273.74, Y:-59.05, Z:-5.60 [[ 9.63298668e-01 2.68119762e-01 1.29409894e-02 2.73737512e+02] [-2.68098753e-01 9.63385562e-01 -3.36421675e-03 -5.90516110e+01] [-1.33691754e-02 -2.28717609e-04 9.99910602e-01 -5.60257081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86862385300003 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:273.76, Y:-59.06, Z:-5.60 [[ 9.63596179e-01 2.67035678e-01 1.32041897e-02 2.73763821e+02] [-2.67013717e-01 9.63686619e-01 -3.43165843e-03 -5.90570465e+01] [-1.36410761e-02 -2.18966815e-04 9.99906932e-01 -5.60296944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.898623853 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:273.79, Y:-59.06, Z:-5.60 [[ 9.64642434e-01 2.63223809e-01 1.33492067e-02 2.73791210e+02] [-2.63201008e-01 9.64734781e-01 -3.46860041e-03 -5.90626235e+01] [-1.37914622e-02 -1.67565504e-04 9.99904879e-01 -5.60362634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92862385300003 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:273.82, Y:-59.07, Z:-5.60 [[ 9.65390643e-01 2.60483630e-01 1.30070967e-02 2.73818512e+02] [-2.60461764e-01 9.65478256e-01 -3.37748764e-03 -5.90688765e+01] [-1.34378493e-02 -1.27256375e-04 9.99909700e-01 -5.60066696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.958623853 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:273.84, Y:-59.08, Z:-5.61 [[ 9.66159559e-01 2.57603938e-01 1.32634060e-02 2.73844986e+02] [-2.57580970e-01 9.66250590e-01 -3.44105853e-03 -5.90771961e+01] [-1.37022041e-02 -9.17894087e-05 9.99906116e-01 -5.60511649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98862385300004 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:273.87, Y:-59.09, Z:-5.61 [[ 9.67656192e-01 2.51898993e-01 1.37256100e-02 2.73870735e+02] [-2.51873833e-01 9.67753531e-01 -3.56019961e-03 -5.90851446e+01] [-1.41798183e-02 -1.20728131e-05 9.99899461e-01 -5.60548392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.018623853 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:273.90, Y:-59.09, Z:-5.61 [[ 9.68339490e-01 2.49244999e-01 1.39843562e-02 2.73897716e+02] [-2.49218630e-01 9.68440463e-01 -3.62553912e-03 -5.90926430e+01] [-1.44466639e-02 2.55906082e-05 9.99895641e-01 -5.60612290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04862385300004 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:273.92, Y:-59.10, Z:-5.61 [[ 9.69345919e-01 2.45296713e-01 1.40716435e-02 2.73924927e+02] [-2.45269634e-01 9.69448047e-01 -3.64564819e-03 -5.91011101e+01] [-1.45359928e-02 8.25473488e-05 9.99894343e-01 -5.60667277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.078623853 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:273.95, Y:-59.11, Z:-5.61 [[ 9.69693970e-01 2.43940349e-01 1.36642201e-02 2.73952016e+02] [-2.43914721e-01 9.69790233e-01 -3.53723724e-03 -5.91089852e+01] [-1.41143021e-02 9.71331769e-05 9.99900384e-01 -5.60740572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10862385300004 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:273.98, Y:-59.12, Z:-5.61 [[ 9.69924811e-01 2.43027504e-01 1.35460024e-02 2.73979137e+02] [-2.43002242e-01 9.70019392e-01 -3.50569559e-03 -5.91167413e+01] [-1.39918654e-02 1.08552180e-04 9.99902103e-01 -5.60817193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.138623853 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:274.00, Y:-59.12, Z:-5.61 [[ 9.69989025e-01 2.42783419e-01 1.33229907e-02 2.74004937e+02] [-2.42758972e-01 9.70080512e-01 -3.44702725e-03 -5.91244491e+01] [-1.37612547e-02 1.09303067e-04 9.99905303e-01 -5.60856388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16862385300004 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:274.03, Y:-59.13, Z:-5.61 [[ 9.69802079e-01 2.43555755e-01 1.28265720e-02 2.74031925e+02] [-2.43533179e-01 9.69886893e-01 -3.31740402e-03 -5.91329505e+01] [-1.32482969e-02 9.35294692e-05 9.99912233e-01 -5.60904605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.198623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:274.06, Y:-59.14, Z:-5.61 [[ 9.69543719e-01 2.44579179e-01 1.28842132e-02 2.74058435e+02] [-2.44556503e-01 9.69629320e-01 -3.33138264e-03 -5.91398813e+01] [-1.33076978e-02 7.90029881e-05 9.99911446e-01 -5.60959773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22862385300004 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:274.09, Y:-59.15, Z:-5.61 [[ 9.69186745e-01 2.45998937e-01 1.27112377e-02 2.74085727e+02] [-2.45977004e-01 9.69270096e-01 -3.28546268e-03 -5.91464178e+01] [-1.31288429e-02 5.75547331e-05 9.99913811e-01 -5.61039588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.258623853 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:274.11, Y:-59.15, Z:-5.61 [[ 9.68148768e-01 2.50078007e-01 1.22046501e-02 2.74113294e+02] [-2.50058121e-01 9.68225692e-01 -3.15366469e-03 -5.91529549e+01] [-1.26055179e-02 1.34472290e-06 9.99920547e-01 -5.61082920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28862385300005 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:274.14, Y:-59.16, Z:-5.61 [[ 9.67583559e-01 2.52240528e-01 1.25208508e-02 2.74140568e+02] [-2.52219792e-01 9.67664567e-01 -3.23439536e-03 -5.91591671e+01] [-1.29318292e-02 -2.84586039e-05 9.99916380e-01 -5.61112120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.318623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:274.17, Y:-59.17, Z:-5.61 [[ 9.66948599e-01 2.54662519e-01 1.25462734e-02 2.74167856e+02] [-2.54641914e-01 9.67029988e-01 -3.24002777e-03 -5.91652099e+01] [-1.29577362e-02 -6.18667558e-05 9.99916043e-01 -5.61121426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:274.20, Y:-59.17, Z:-5.61 [[ 9.65603513e-01 2.59705963e-01 1.27541461e-02 2.74195535e+02] [-2.59685123e-01 9.65687732e-01 -3.29272112e-03 -5.91702828e+01] [-1.31716617e-02 -1.32598915e-04 9.99913241e-01 -5.61189285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.378623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:274.22, Y:-59.18, Z:-5.61 [[ 9.65023004e-01 2.61834046e-01 1.31732495e-02 2.74223229e+02] [-2.61812026e-01 9.65112897e-01 -3.39985659e-03 -5.91759673e+01] [-1.36038712e-02 -1.67975335e-04 9.99907449e-01 -5.61262739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.408623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:274.25, Y:-59.18, Z:-5.61 [[ 9.63875092e-01 2.66022662e-01 1.32947820e-02 2.74249683e+02] [-2.66000641e-01 9.63966748e-01 -3.43051653e-03 -5.91795070e+01] [-1.37283229e-02 -2.29831104e-04 9.99905736e-01 -5.61298727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.438623853 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:274.28, Y:-59.18, Z:-5.61 [[ 9.63476636e-01 2.67455852e-01 1.34216029e-02 2.74277257e+02] [-2.67433579e-01 9.63570082e-01 -3.46096980e-03 -5.91849918e+01] [-1.38583116e-02 -2.54823751e-04 9.99903937e-01 -5.61376303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.468623853 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:274.30, Y:-59.19, Z:-5.61 [[ 9.63145784e-01 2.68631596e-01 1.36844915e-02 2.74304444e+02] [-2.68608576e-01 9.63242954e-01 -3.52769280e-03 -5.91907391e+01] [-1.41291398e-02 -2.78089339e-04 9.99900140e-01 -5.61428477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.498623853 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:274.33, Y:-59.19, Z:-5.61 [[ 9.62790172e-01 2.69894701e-01 1.38540495e-02 2.74331564e+02] [-2.69871252e-01 9.62889796e-01 -3.57039202e-03 -5.91945869e+01] [-1.43035528e-02 -3.01271341e-04 9.99897654e-01 -5.61482282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.528623853 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:274.36, Y:-59.20, Z:-5.62 [[ 9.62821635e-01 2.69782427e-01 1.38543023e-02 2.74359189e+02] [-2.69758980e-01 9.62921259e-01 -3.56941080e-03 -5.92015415e+01] [-1.43035665e-02 -3.00616522e-04 9.99897654e-01 -5.61537250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55862385300003 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:274.39, Y:-59.21, Z:-5.62 [[ 9.62817860e-01 2.69786144e-01 1.40429638e-02 2.74386301e+02] [-2.69762084e-01 9.62920216e-01 -3.61601656e-03 -5.92068206e+01] [-1.44978049e-02 -3.06693860e-04 9.99894854e-01 -5.61614292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.588623853 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:274.41, Y:-59.21, Z:-5.62 [[ 9.62994112e-01 2.69138218e-01 1.43861136e-02 2.74413139e+02] [-2.69112911e-01 9.63101514e-01 -3.70329761e-03 -5.92106513e+01] [-1.48519867e-02 -3.05235122e-04 9.99889657e-01 -5.61619108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61862385300003 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:274.44, Y:-59.22, Z:-5.62 [[ 9.63197163e-01 2.68421619e-01 1.41795559e-02 2.74439574e+02] [-2.68396975e-01 9.63301484e-01 -3.64888895e-03 -5.92155632e+01] [-1.46386280e-02 -2.91150435e-04 9.99892807e-01 -5.61669350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.648623853 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:274.47, Y:-59.22, Z:-5.62 [[ 9.63440465e-01 2.67568412e-01 1.37700796e-02 2.74467416e+02] [-2.67545092e-01 9.63538827e-01 -3.54291115e-03 -5.92204303e+01] [-1.42159774e-02 -2.70733238e-04 9.99898911e-01 -5.61709697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67862385300003 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:274.49, Y:-59.23, Z:-5.62 [[ 9.63614522e-01 2.66945102e-01 1.36881189e-02 2.74493954e+02] [-2.66922043e-01 9.63711701e-01 -3.51851178e-03 -5.92250643e+01] [-1.41306498e-02 -2.63171614e-04 9.99900123e-01 -5.61838347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.708623853 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:274.52, Y:-59.23, Z:-5.62 [[ 9.63951944e-01 2.65757353e-01 1.30260796e-02 2.74520428e+02] [-2.65736377e-01 9.64039923e-01 -3.34726062e-03 -5.92287375e+01] [-1.34472199e-02 -2.34904808e-04 9.99909554e-01 -5.61944176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73862385300004 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:274.55, Y:-59.23, Z:-5.62 [[ 9.64224856e-01 2.64787591e-01 1.25681905e-02 2.74546718e+02] [-2.64767994e-01 9.64306738e-01 -3.22857213e-03 -5.92337067e+01] [-1.29744766e-02 -2.14585095e-04 9.99915805e-01 -5.62009436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.768623853 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:274.57, Y:-59.24, Z:-5.62 [[ 9.64753294e-01 2.62879972e-01 1.20499451e-02 2.74574500e+02] [-2.62861812e-01 9.64828527e-01 -3.09527826e-03 -5.92381038e+01] [-1.24398175e-02 -1.81290503e-04 9.99922606e-01 -5.62183205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79862385300004 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:274.60, Y:-59.24, Z:-5.62 [[ 9.65126179e-01 2.61526948e-01 1.16238395e-02 2.74601845e+02] [-2.61509978e-01 9.65196161e-01 -2.98362861e-03 -5.92440008e+01] [-1.19995845e-02 -1.60171918e-04 9.99927990e-01 -5.62258217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.828623853 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:274.63, Y:-59.25, Z:-5.62 [[ 9.65960307e-01 2.58451595e-01 1.11111466e-02 2.74628070e+02] [-2.58435915e-01 9.66024202e-01 -2.84941468e-03 -5.92485545e+01] [-1.14700723e-02 -1.19097868e-04 9.99934209e-01 -5.62345399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85862385300004 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:274.66, Y:-59.25, Z:-5.62 [[ 9.66492938e-01 2.56460288e-01 1.09326177e-02 2.74655473e+02] [-2.56444991e-01 9.66554764e-01 -2.80265350e-03 -5.92539914e+01] [-1.12857430e-02 -9.48702339e-05 9.99936309e-01 -5.62454445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.888623853 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:274.68, Y:-59.26, Z:-5.63 [[ 9.67044227e-01 2.54375531e-01 1.08881299e-02 2.74681445e+02] [-2.54360262e-01 9.67105518e-01 -2.78810101e-03 -5.92595293e+01] [-1.12391952e-02 -7.32905883e-05 9.99936836e-01 -5.62522559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91862385300004 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:274.71, Y:-59.27, Z:-5.63 [[ 9.68124788e-01 2.50203632e-01 1.15125132e-02 2.74708414e+02] [-2.50186281e-01 9.68193236e-01 -2.94676574e-03 -5.92656258e+01] [-1.18836289e-02 -2.74358986e-05 9.99929387e-01 -5.62525648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.948623853 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:274.73, Y:-59.27, Z:-5.63 [[ 9.68610874e-01 2.48298822e-01 1.18603953e-02 2.74734732e+02] [-2.48280274e-01 9.68683485e-01 -3.03493121e-03 -5.92714580e+01] [-1.22425389e-02 -5.03482633e-06 9.99925057e-01 -5.62547690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97862385300004 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:274.76, Y:-59.28, Z:-5.63 [[ 9.69271696e-01 2.45698285e-01 1.20305070e-02 2.74760884e+02] [-2.45679014e-01 9.69346353e-01 -3.07734026e-03 -5.92778889e+01] [-1.24178253e-02 2.71357076e-05 9.99922895e-01 -5.62563226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.008623853 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:274.79, Y:-59.28, Z:-5.62 [[ 9.69460680e-01 2.44978522e-01 1.14679040e-02 2.74788288e+02] [-2.44960963e-01 9.69528505e-01 -2.93327921e-03 -5.92832639e+01] [-1.18370502e-02 3.45100648e-05 9.99929939e-01 -5.62004105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03862385300005 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:274.81, Y:-59.29, Z:-5.63 [[ 9.69648210e-01 2.44225299e-01 1.16770012e-02 2.74814492e+02] [-2.44207078e-01 9.69718517e-01 -2.98354385e-03 -5.92915654e+01] [-1.20520612e-02 4.13816087e-05 9.99927370e-01 -5.62726300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.068623853 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:274.84, Y:-59.30, Z:-5.63 [[ 9.69701057e-01 2.44009267e-01 1.18041356e-02 2.74841511e+02] [-2.43990642e-01 9.69772899e-01 -3.01513078e-03 -5.92979235e+01] [-1.21830507e-02 4.36768698e-05 9.99925783e-01 -5.62790051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09862385300005 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:274.87, Y:-59.30, Z:-5.63 [[ 9.69694472e-01 2.44022492e-01 1.20687635e-02 2.74868751e+02] [-2.44003035e-01 9.69769571e-01 -3.08180156e-03 -5.93037376e+01] [-1.24559485e-02 4.35910219e-05 9.99922421e-01 -5.62811228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.128623853 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:274.90, Y:-59.31, Z:-5.63 [[ 9.69746070e-01 2.43813427e-01 1.21479851e-02 2.74895952e+02] [-2.43793697e-01 9.69822154e-01 -3.10197885e-03 -5.93104352e+01] [-1.25376892e-02 4.65295936e-05 9.99921399e-01 -5.62862311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.158623853 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:274.92, Y:-59.32, Z:-5.63 [[ 9.69886063e-01 2.43260451e-01 1.20572737e-02 2.74921511e+02] [-2.43241013e-01 9.69961005e-01 -3.07553433e-03 -5.93179702e+01] [-1.24432412e-02 5.00944083e-05 9.99922579e-01 -5.62909670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.188623853 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:274.95, Y:-59.32, Z:-5.63 [[ 9.70023209e-01 2.42721712e-01 1.18804489e-02 2.74947664e+02] [-2.42702813e-01 9.70095958e-01 -3.02937497e-03 -5.93249611e+01] [-1.22604705e-02 5.51456649e-05 9.99924836e-01 -5.62924549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.218623853 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:274.97, Y:-59.33, Z:-5.63 [[ 9.70170117e-01 2.42135486e-01 1.18469604e-02 2.74974833e+02] [-2.42116654e-01 9.70242445e-01 -3.02047253e-03 -5.93324473e+01] [-1.22257874e-02 6.20257839e-05 9.99925260e-01 -5.62997322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.248623853 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:275.00, Y:-59.34, Z:-5.63 [[ 9.70447442e-01 2.41039820e-01 1.14702527e-02 2.75000879e+02] [-2.41022124e-01 9.70515224e-01 -2.92157886e-03 -5.93397791e+01] [-1.18362717e-02 7.06540659e-05 9.99929946e-01 -5.63063817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.278623853 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:275.03, Y:-59.35, Z:-5.63 [[ 9.70547819e-01 2.40637473e-01 1.14253422e-02 2.75027762e+02] [-2.40619900e-01 9.70615063e-01 -2.90901999e-03 -5.93471008e+01] [-1.17896284e-02 7.41783045e-05 9.99930497e-01 -5.63178370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30862385300003 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:275.05, Y:-59.35, Z:-5.63 [[ 9.70463474e-01 2.40960212e-01 1.17822713e-02 2.75053407e+02] [-2.40941559e-01 9.70534992e-01 -2.99903289e-03 -5.93547763e+01] [-1.21577542e-02 7.16130501e-05 9.99926089e-01 -5.63149727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.338623853 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:275.08, Y:-59.36, Z:-5.63 [[ 9.70381443e-01 2.41280042e-01 1.19915002e-02 2.75080918e+02] [-2.41260759e-01 9.70455531e-01 -3.05110026e-03 -5.93617346e+01] [-1.23733873e-02 6.76526288e-05 9.99923444e-01 -5.63131320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36862385300003 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:275.11, Y:-59.37, Z:-5.63 [[ 9.70336003e-01 2.41458337e-01 1.20794795e-02 2.75106907e+02] [-2.41438794e-01 9.70411185e-01 -3.07264541e-03 -5.93684880e+01] [-1.24639779e-02 6.50434922e-05 9.99922319e-01 -5.63251642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.398623853 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:275.13, Y:-59.38, Z:-5.63 [[ 9.70085685e-01 2.42480783e-01 1.16976299e-02 2.75134050e+02] [-2.42462544e-01 9.70156208e-01 -2.97444044e-03 -5.93771658e+01] [-1.20697729e-02 4.92249857e-05 9.99927156e-01 -5.63314948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42862385300003 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:275.16, Y:-59.38, Z:-5.63 [[ 9.69963218e-01 2.42977931e-01 1.15360817e-02 2.75161149e+02] [-2.42960237e-01 9.70031816e-01 -2.93252325e-03 -5.93844739e+01] [-1.19029048e-02 4.16305348e-05 9.99929157e-01 -5.63389875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.458623853 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:275.19, Y:-59.39, Z:-5.63 [[ 9.69816457e-01 2.43562719e-01 1.15429906e-02 2.75188406e+02] [-2.43545056e-01 9.69885148e-01 -2.93341693e-03 -5.93916865e+01] [-1.19098461e-02 3.36377247e-05 9.99929075e-01 -5.63405159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48862385300004 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:275.22, Y:-59.40, Z:-5.63 [[ 9.69481218e-01 2.44882438e-01 1.17796352e-02 2.75215132e+02] [-2.44864152e-01 9.69552779e-01 -2.99264121e-03 -5.93990765e+01] [-1.21538233e-02 1.68990738e-05 9.99926139e-01 -5.63465732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.518623853 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:275.24, Y:-59.41, Z:-5.63 [[ 9.69298908e-01 2.45602416e-01 1.17932455e-02 2.75241177e+02] [-2.45584150e-01 9.69370648e-01 -2.99529584e-03 -5.94057642e+01] [-1.21676779e-02 7.10281978e-06 9.99925971e-01 -5.63496573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54862385300004 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:275.27, Y:-59.41, Z:-5.64 [[ 9.68960925e-01 2.46914032e-01 1.21731593e-02 2.75268499e+02] [-2.46894689e-01 9.69037389e-01 -3.09059339e-03 -5.94130745e+01] [-1.25593574e-02 -1.08241516e-05 9.99921128e-01 -5.63590060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.578623853 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:275.30, Y:-59.42, Z:-5.64 [[ 9.68790922e-01 2.47581498e-01 1.21470567e-02 2.75295008e+02] [-2.47562302e-01 9.68867071e-01 -3.08306437e-03 -5.94206760e+01] [-1.25321929e-02 -2.03085454e-05 9.99921469e-01 -5.63640209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60862385300004 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:275.32, Y:-59.43, Z:-5.64 [[ 9.68617021e-01 2.48263879e-01 1.20877409e-02 2.75321513e+02] [-2.48244934e-01 9.68692441e-01 -3.06718722e-03 -5.94279771e+01] [-1.24707751e-02 -2.97906960e-05 9.99922236e-01 -5.63670971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.638623853 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:275.35, Y:-59.43, Z:-5.64 [[ 9.68421771e-01 2.49043438e-01 1.16892797e-02 2.75348701e+02] [-2.49025791e-01 9.68492315e-01 -2.96501785e-03 -5.94349463e+01] [-1.20593958e-02 -3.95442794e-05 9.99927282e-01 -5.63734004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66862385300004 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:275.37, Y:-59.44, Z:-5.63 [[ 9.68329841e-01 2.49440952e-01 1.07949136e-02 2.75374992e+02] [-2.49425933e-01 9.68390009e-01 -2.73755973e-03 -5.94399066e+01] [-1.11365460e-02 -4.16706291e-05 9.99937986e-01 -5.63164678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.698623853 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:275.40, Y:-59.45, Z:-5.64 [[ 9.68426399e-01 2.49070856e-01 1.06779571e-02 2.75401695e+02] [-2.49056138e-01 9.68485265e-01 -2.70787745e-03 -5.94482223e+01] [-1.10158975e-02 -3.70307579e-05 9.99939322e-01 -5.63954420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72862385300004 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:275.43, Y:-59.46, Z:-5.64 [[ 9.68550487e-01 2.48600619e-01 1.03772004e-02 2.75428220e+02] [-2.48586723e-01 9.68606076e-01 -2.62866392e-03 -5.94557004e+01] [-1.07049068e-02 -3.36405197e-05 9.99942700e-01 -5.64075935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.758623853 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:275.46, Y:-59.46, Z:-5.64 [[ 9.68690958e-01 2.48048863e-01 1.04684739e-02 2.75455227e+02] [-2.48034698e-01 9.68747522e-01 -2.65098596e-03 -5.94626058e+01] [-1.07988822e-02 -2.85586224e-05 9.99941690e-01 -5.64114449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78862385300005 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:275.48, Y:-59.47, Z:-5.64 [[ 9.68875369e-01 2.47310905e-01 1.08552619e-02 2.75482794e+02] [-2.47295637e-01 9.68936177e-01 -2.74807194e-03 -5.94694619e+01] [-1.11976842e-02 -2.19197055e-05 9.99937304e-01 -5.64152740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.818623853 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:275.51, Y:-59.48, Z:-5.64 [[ 9.69206018e-01 2.46010251e-01 1.08926902e-02 2.75508779e+02] [-2.45994805e-01 9.69267226e-01 -2.75678753e-03 -5.94764882e+01] [-1.12361256e-02 -7.65013441e-06 9.99936873e-01 -5.64223246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84862385300005 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:275.53, Y:-59.48, Z:-5.64 [[ 9.69350944e-01 2.45428439e-01 1.11188520e-02 2.75534542e+02] [-2.45412318e-01 9.69414711e-01 -2.81297264e-03 -5.94836327e+01] [-1.14691622e-02 -1.94557298e-06 9.99934227e-01 -5.64272491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.878623853 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:275.56, Y:-59.49, Z:-5.64 [[ 9.69667561e-01 2.44153157e-01 1.15783198e-02 2.75560600e+02] [-2.44135594e-01 9.69736684e-01 -2.92843571e-03 -5.94910835e+01] [-1.19429083e-02 1.29291274e-05 9.99928681e-01 -5.64268476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.908623853 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:275.59, Y:-59.50, Z:-5.64 [[ 9.69818893e-01 2.43528717e-01 1.20449101e-02 2.75586797e+02] [-2.43509684e-01 9.69893687e-01 -3.04465659e-03 -5.94975351e+01] [-1.24237435e-02 1.97132409e-05 9.99922822e-01 -5.64321346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.938623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:275.61, Y:-59.50, Z:-5.64 [[ 9.69962464e-01 2.42935145e-01 1.24633098e-02 2.75614133e+02] [-2.42914745e-01 9.70042532e-01 -3.14833989e-03 -5.95042663e+01] [-1.28547830e-02 2.62498008e-05 9.99917374e-01 -5.64329508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.968623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:275.64, Y:-59.51, Z:-5.64 [[ 9.70104758e-01 2.42341959e-01 1.29279972e-02 2.75641622e+02] [-2.42319970e-01 9.70190896e-01 -3.26471670e-03 -5.95115055e+01] [-1.33338030e-02 3.44053192e-05 9.99911100e-01 -5.64435627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.998623853 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:275.67, Y:-59.52, Z:-5.65 [[ 9.70513999e-01 2.40708726e-01 1.27234695e-02 2.75668177e+02] [-2.40687299e-01 9.70597397e-01 -3.21213122e-03 -5.95199346e+01] [-1.31225544e-02 5.50407978e-05 9.99913894e-01 -5.64518223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.028623853 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:275.69, Y:-59.53, Z:-5.65 [[ 9.70795080e-01 2.39577053e-01 1.26392060e-02 2.75694377e+02] [-2.39555824e-01 9.70877351e-01 -3.18998864e-03 -5.95275549e+01] [-1.30353669e-02 6.90298736e-05 9.99915034e-01 -5.64586588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05862385300003 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:275.72, Y:-59.54, Z:-5.65 [[ 9.71186525e-01 2.37993943e-01 1.24746450e-02 2.75721195e+02] [-2.37973148e-01 9.71266635e-01 -3.14730913e-03 -5.95355122e+01] [-1.28652470e-02 8.79936843e-05 9.99917235e-01 -5.64631307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.088623853 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:275.75, Y:-59.55, Z:-5.65 [[ 9.72095935e-01 2.34228356e-01 1.29062398e-02 2.75746259e+02] [-2.34205777e-01 9.72181597e-01 -3.25526206e-03 -5.95460532e+01] [-1.33096835e-02 1.41711093e-04 9.99911412e-01 -5.64730704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11862385300003 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:275.77, Y:-59.55, Z:-5.65 [[ 9.72551647e-01 2.32310059e-01 1.32412479e-02 2.75773268e+02] [-2.32286131e-01 9.72641767e-01 -3.33853014e-03 -5.95549760e+01] [-1.36545649e-02 1.71134736e-04 9.99906757e-01 -5.64771145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.148623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:275.80, Y:-59.57, Z:-5.65 [[ 9.73212192e-01 2.29471385e-01 1.41743933e-02 2.75798211e+02] [-2.29443682e-01 9.73315382e-01 -3.57266039e-03 -5.95652870e+01] [-1.46159784e-02 2.24731662e-04 9.99893156e-01 -5.64750404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:275.82, Y:-59.57, Z:-5.65 [[ 9.73455434e-01 2.28430886e-01 1.42775538e-02 2.75824618e+02] [-2.28402687e-01 9.73560102e-01 -3.59729074e-03 -5.95747002e+01] [-1.47217891e-02 2.40770566e-04 9.99891600e-01 -5.64801614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.208623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:275.85, Y:-59.58, Z:-5.65 [[ 9.73721449e-01 2.27293609e-01 1.42882851e-02 2.75850251e+02] [-2.27265259e-01 9.73826242e-01 -3.59901540e-03 -5.95838510e+01] [-1.47323402e-02 2.57207683e-04 9.99891440e-01 -5.64935163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23862385300004 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:275.87, Y:-59.60, Z:-5.65 [[ 9.73954308e-01 2.26326112e-01 1.37657654e-02 2.75874747e+02] [-2.26299717e-01 9.74051551e-01 -3.46627673e-03 -5.95959567e+01] [-1.41930741e-02 2.60806337e-04 9.99899239e-01 -5.64977137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.268623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:275.90, Y:-59.61, Z:-5.65 [[ 9.73899453e-01 2.26565577e-01 1.37074989e-02 2.75901428e+02] [-2.26539444e-01 9.73995880e-01 -3.45052869e-03 -5.96052396e+01] [-1.41328185e-02 2.55178827e-04 9.99900094e-01 -5.65033880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29862385300004 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:275.93, Y:-59.61, Z:-5.65 [[ 9.73844696e-01 2.26817024e-01 1.34367094e-02 2.75927438e+02] [-2.26791950e-01 9.73937358e-01 -3.38145217e-03 -5.96144808e+01] [-1.38534842e-02 2.45671730e-04 9.99904006e-01 -5.65104603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.328623853 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:275.95, Y:-59.63, Z:-5.65 [[ 9.73594183e-01 2.27916693e-01 1.29748979e-02 2.75953063e+02] [-2.27893426e-01 9.73680611e-01 -3.26408715e-03 -5.96268959e+01] [-1.33773465e-02 2.21002322e-04 9.99910495e-01 -5.65161114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:275.98, Y:-59.64, Z:-5.65 [[ 9.73409350e-01 2.28728767e-01 1.25454198e-02 2.75978278e+02] [-2.28707093e-01 9.73490170e-01 -3.15523447e-03 -5.96358007e+01] [-1.29345357e-02 2.02108241e-04 9.99916325e-01 -5.65187951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.388623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:276.00, Y:-59.65, Z:-5.65 [[ 9.72882556e-01 2.30958727e-01 1.25538363e-02 2.76004145e+02] [-2.30937224e-01 9.72963533e-01 -3.15619402e-03 -5.96475373e+01] [-1.29433754e-02 1.71458003e-04 9.99916216e-01 -5.65329225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:276.03, Y:-59.66, Z:-5.65 [[ 9.72650532e-01 2.31928118e-01 1.26606071e-02 2.76029905e+02] [-2.31906341e-01 9.72732915e-01 -3.18216402e-03 -5.96564975e+01] [-1.30534226e-02 1.59058455e-04 9.99914788e-01 -5.65388399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.448623853 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:276.06, Y:-59.67, Z:-5.65 [[ 9.72326562e-01 2.33287238e-01 1.25746386e-02 2.76055344e+02] [-2.33265884e-01 9.72407859e-01 -3.15946002e-03 -5.96658388e+01] [-1.29647391e-02 1.38792714e-04 9.99915945e-01 -5.65444427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47862385300004 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:276.08, Y:-59.67, Z:-5.65 [[ 9.72351884e-01 2.33181661e-01 1.25748295e-02 2.76083017e+02] [-2.33160307e-01 9.72433182e-01 -3.15869978e-03 -5.96726145e+01] [-1.29647324e-02 1.39416563e-04 9.99915945e-01 -5.65499397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.508623853 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:276.11, Y:-59.68, Z:-5.65 [[ 9.71548718e-01 2.36486118e-01 1.29384979e-02 2.76109140e+02] [-2.36463829e-01 9.71634863e-01 -3.24822661e-03 -5.96839814e+01] [-1.33396562e-02 9.63236371e-05 9.99911018e-01 -5.65485191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53862385300005 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:276.14, Y:-59.69, Z:-5.66 [[ 9.71004346e-01 2.38683324e-01 1.34473363e-02 2.76135943e+02] [-2.38659471e-01 9.71097455e-01 -3.37501040e-03 -5.96923194e+01] [-1.38642327e-02 6.78155977e-05 9.99903885e-01 -5.65509919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.568623853 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:276.16, Y:-59.70, Z:-5.66 [[ 9.69588292e-01 2.44335240e-01 1.41008757e-02 2.76161674e+02] [-2.44309623e-01 9.69690822e-01 -3.53800191e-03 -5.97016507e+01] [-1.45379483e-02 -1.45744160e-05 9.99894318e-01 -5.65531058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59862385300005 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:276.19, Y:-59.71, Z:-5.66 [[ 9.68854316e-01 2.47245648e-01 1.38168122e-02 2.76187821e+02] [-2.47221365e-01 9.68952830e-01 -3.46559444e-03 -5.97096387e+01] [-1.42446924e-02 -5.81550369e-05 9.99898538e-01 -5.65600970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.628623853 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:276.21, Y:-59.72, Z:-5.66 [[ 9.68155336e-01 2.49978900e-01 1.36306434e-02 2.76214676e+02] [-2.49955554e-01 9.68251279e-01 -3.41771659e-03 -5.97177767e+01] [-1.40522450e-02 -9.81744803e-05 9.99901258e-01 -5.65680936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.658623853 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:276.24, Y:-59.73, Z:-5.66 [[ 9.66925701e-01 2.54721256e-01 1.31061402e-02 2.76240083e+02] [-2.54700119e-01 9.67014507e-01 -3.28537928e-03 -5.97256970e+01] [-1.35106836e-02 -1.61417797e-04 9.99908714e-01 -5.65725372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.688623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:276.27, Y:-59.73, Z:-5.66 [[ 9.66505963e-01 2.56312777e-01 1.30378120e-02 2.76267121e+02] [-2.56292019e-01 9.66593879e-01 -3.26711256e-03 -5.97330573e+01] [-1.34396719e-02 -1.83803389e-04 9.99909667e-01 -5.65825863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.718623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:276.29, Y:-59.74, Z:-5.66 [[ 9.66227037e-01 2.57377240e-01 1.27385084e-02 2.76294087e+02] [-2.57357529e-01 9.66310984e-01 -3.19124016e-03 -5.97404965e+01] [-1.31307132e-02 -1.94888521e-04 9.99913769e-01 -5.65934988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.748623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:276.32, Y:-59.75, Z:-5.66 [[ 9.66158603e-01 2.57652144e-01 1.23663276e-02 2.76320924e+02] [-2.57633601e-01 9.66237722e-01 -3.09717353e-03 -5.97498770e+01] [-1.27468056e-02 -1.93620661e-04 9.99918737e-01 -5.66023949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.778623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:276.35, Y:-59.76, Z:-5.66 [[ 9.66351586e-01 2.56924563e-01 1.24249869e-02 2.76348095e+02] [-2.56905795e-01 9.66431443e-01 -3.11101208e-03 -5.97574704e+01] [-1.28071934e-02 -1.85719659e-04 9.99917967e-01 -5.66118929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80862385300003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:276.37, Y:-59.77, Z:-5.66 [[ 9.66930131e-01 2.54736015e-01 1.24773940e-02 2.76374437e+02] [-2.54716918e-01 9.67010619e-01 -3.12310554e-03 -5.97673380e+01] [-1.28613400e-02 -1.58378514e-04 9.99917277e-01 -5.66195082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.838623853 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:276.40, Y:-59.78, Z:-5.66 [[ 9.67316613e-01 2.53260594e-01 1.25555684e-02 2.76401605e+02] [-2.53241143e-01 9.67398083e-01 -3.14195534e-03 -5.97760824e+01] [-1.29419663e-02 -1.40320883e-04 9.99916239e-01 -5.66228168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86862385300003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:276.43, Y:-59.78, Z:-5.66 [[ 9.67678728e-01 2.51858776e-01 1.28466855e-02 2.76428113e+02] [-2.51838301e-01 9.67763991e-01 -3.21381326e-03 -5.97842501e+01] [-1.32419867e-02 -1.25348738e-04 9.99912313e-01 -5.66261034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.898623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:276.45, Y:-59.79, Z:-5.66 [[ 9.68002784e-01 2.50586780e-01 1.32994340e-02 2.76454458e+02] [-2.50564732e-01 9.68094134e-01 -3.32596535e-03 -5.97923255e+01] [-1.37085470e-02 -1.12825400e-04 9.99906027e-01 -5.66314924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92862385300003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:276.48, Y:-59.80, Z:-5.66 [[ 9.68671302e-01 2.47956250e-01 1.39142895e-02 2.76481568e+02] [-2.47931860e-01 9.68771228e-01 -3.47863617e-03 -5.98017276e+01] [-1.43423129e-02 -8.01406589e-05 9.99897141e-01 -5.66355641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.958623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:276.51, Y:-59.81, Z:-5.66 [[ 9.68998938e-01 2.46666755e-01 1.40203777e-02 2.76508305e+02] [-2.46641866e-01 9.69100360e-01 -3.50450439e-03 -5.98101589e+01] [-1.44515978e-02 -6.21510881e-05 9.99895568e-01 -5.66377963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:276.54, Y:-59.82, Z:-5.66 [[ 9.69258595e-01 2.45628129e-01 1.43037701e-02 2.76535996e+02] [-2.45602125e-01 9.69364132e-01 -3.57437035e-03 -5.98189553e+01] [-1.47435276e-02 -4.85471411e-05 9.99891307e-01 -5.66458977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.018623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:276.56, Y:-59.83, Z:-5.66 [[ 9.69744392e-01 2.43700964e-01 1.43406601e-02 2.76561884e+02] [-2.43674625e-01 9.69850421e-01 -3.58292606e-03 -5.98290029e+01] [-1.47814578e-02 -1.99325312e-05 9.99890748e-01 -5.66472613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04862385300004 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:276.59, Y:-59.84, Z:-5.67 [[ 9.69997527e-01 2.42696616e-01 1.42530890e-02 2.76588394e+02] [-2.42670503e-01 9.70102238e-01 -3.56016460e-03 -5.98371628e+01] [-1.46909934e-02 -5.45341398e-06 9.99892082e-01 -5.66554440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.078623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:276.62, Y:-59.85, Z:-5.67 [[ 9.70461880e-01 2.40832890e-01 1.42568641e-02 2.76615217e+02] [-2.40806575e-01 9.70566597e-01 -3.56019049e-03 -5.98479292e+01] [-1.46946470e-02 2.18825466e-05 9.99892028e-01 -5.66628274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10862385300004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:276.64, Y:-59.86, Z:-5.67 [[ 9.70619830e-01 2.40174384e-01 1.46085755e-02 2.76642366e+02] [-2.40146691e-01 9.70729759e-01 -3.64728195e-03 -5.98568049e+01] [-1.50569626e-02 3.19231270e-05 9.99886637e-01 -5.66677570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.138623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:276.67, Y:-59.87, Z:-5.67 [[ 9.70754912e-01 2.39622521e-01 1.46951979e-02 2.76668816e+02] [-2.39594446e-01 9.70866132e-01 -3.66823448e-03 -5.98651757e+01] [-1.51460615e-02 4.00688526e-05 9.99885291e-01 -5.66681060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:276.70, Y:-59.88, Z:-5.67 [[ 9.70928892e-01 2.38901554e-01 1.49376777e-02 2.76696940e+02] [-2.38872476e-01 9.71043791e-01 -3.72770496e-03 -5.98768712e+01] [-1.53956937e-02 5.11363947e-05 9.99881478e-01 -5.66771641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.198623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:276.73, Y:-59.89, Z:-5.67 [[ 9.70905936e-01 2.38988508e-01 1.50384808e-02 2.76725430e+02] [-2.38959052e-01 9.71022394e-01 -3.75247459e-03 -5.98859357e+01] [-1.54995000e-02 4.97187343e-05 9.99879874e-01 -5.66810140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22862385300004 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:276.75, Y:-59.89, Z:-5.67 [[ 9.70852012e-01 2.39206665e-01 1.50512868e-02 2.76754318e+02] [-2.39177191e-01 9.70968676e-01 -3.75528743e-03 -5.98947125e+01] [-1.55126178e-02 4.59038513e-05 9.99879671e-01 -5.66847247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.258623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:276.78, Y:-59.90, Z:-5.67 [[ 9.70575220e-01 2.40362927e-01 1.44708706e-02 2.76782493e+02] [-2.40335817e-01 9.70683091e-01 -3.61006935e-03 -5.99046797e+01] [-1.49143562e-02 2.59753481e-05 9.99888774e-01 -5.66919908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:276.81, Y:-59.91, Z:-5.67 [[ 9.70405462e-01 2.41047419e-01 1.44699934e-02 2.76811544e+02] [-2.41020391e-01 9.70513339e-01 -3.60961411e-03 -5.99132317e+01] [-1.49134098e-02 1.52257708e-05 9.99888789e-01 -5.67029456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.318623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:276.84, Y:-59.92, Z:-5.67 [[ 9.70194262e-01 2.41913586e-01 1.41742932e-02 2.76840336e+02] [-2.41887745e-01 9.70297798e-01 -3.53578587e-03 -5.99214352e+01] [-1.46086401e-02 1.81134596e-06 9.99893288e-01 -5.67067107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34862385300005 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:276.87, Y:-59.93, Z:-5.67 [[ 9.69708577e-01 2.43876081e-01 1.37743528e-02 2.76868636e+02] [-2.43851870e-01 9.69806402e-01 -3.43640137e-03 -5.99309347e+01] [-1.41965116e-02 -2.65938135e-05 9.99899224e-01 -5.67202880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.378623853 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:276.90, Y:-59.94, Z:-5.67 [[ 9.69272943e-01 2.45627691e-01 1.33040897e-02 2.76897163e+02] [-2.45605275e-01 9.69364243e-01 -3.31876445e-03 -5.99386681e+01] [-1.37116893e-02 -5.07660266e-05 9.99905989e-01 -5.66530144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.408623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:276.92, Y:-59.95, Z:-5.67 [[ 9.69063129e-01 2.46427443e-01 1.37901046e-02 2.76924595e+02] [-2.46403444e-01 9.69161241e-01 -3.43970303e-03 -5.99467656e+01] [-1.42124721e-02 -6.46398825e-05 9.99898996e-01 -5.67272967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.438623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:276.95, Y:-59.95, Z:-5.67 [[ 9.68339500e-01 2.49231004e-01 1.42309164e-02 2.76951685e+02] [-2.49205757e-01 9.68444059e-01 -3.54909914e-03 -5.99546135e+01] [-1.46663920e-02 -1.09693414e-04 9.99892437e-01 -5.67273729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.468623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:276.98, Y:-59.96, Z:-5.67 [[ 9.67963919e-01 2.50677418e-01 1.43764883e-02 2.76981908e+02] [-2.50651823e-01 9.68070666e-01 -3.58459528e-03 -5.99627566e+01] [-1.48160337e-02 -1.33734106e-04 9.99890228e-01 -5.67352034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.498623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:277.01, Y:-59.97, Z:-5.67 [[ 9.67607326e-01 2.52050623e-01 1.43717021e-02 2.77011623e+02] [-2.52025191e-01 9.67714038e-01 -3.58383995e-03 -5.99701445e+01] [-1.48110070e-02 -1.54281179e-04 9.99890299e-01 -5.67337945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.528623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:277.04, Y:-59.98, Z:-5.67 [[ 9.66924788e-01 2.54615777e-01 1.50751378e-02 2.77038227e+02] [-2.54588097e-01 9.67042277e-01 -3.75972928e-03 -5.99764808e+01] [-1.55355820e-02 -2.02575207e-04 9.99879295e-01 -5.67353474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:277.07, Y:-59.98, Z:-5.67 [[ 9.66595659e-01 2.55831974e-01 1.55831062e-02 2.77066777e+02] [-2.55802573e-01 9.66721236e-01 -3.88534167e-03 -5.99835212e+01] [-1.60585143e-02 -2.30644267e-04 9.99871027e-01 -5.67449800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.588623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:277.09, Y:-59.99, Z:-5.67 [[ 9.65886289e-01 2.58478362e-01 1.58938267e-02 2.77094900e+02] [-2.58448141e-01 9.66017007e-01 -3.96241670e-03 -5.99886900e+01] [-1.63779059e-02 -2.80486001e-04 9.99865834e-01 -5.67440853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:277.12, Y:-59.99, Z:-5.68 [[ 9.65570478e-01 2.59658703e-01 1.58433045e-02 2.77123097e+02] [-2.59628839e-01 9.65700403e-01 -3.94944816e-03 -5.99942335e+01] [-1.63253941e-02 -2.99908193e-04 9.99866687e-01 -5.67502901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:277.15, Y:-60.00, Z:-5.68 [[ 9.65242863e-01 2.60884917e-01 1.56612691e-02 2.77152524e+02] [-2.60855909e-01 9.65369856e-01 -3.90327026e-03 -6.00001959e+01] [-1.61372215e-02 -3.17730839e-04 9.99869736e-01 -5.67588836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67862385300003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:277.18, Y:-60.00, Z:-5.68 [[ 9.64791160e-01 2.62590267e-01 1.49789434e-02 2.77180256e+02] [-2.62563941e-01 9.64907375e-01 -3.73299583e-03 -6.00037690e+01] [-1.54335414e-02 -3.31369035e-04 9.99880841e-01 -5.67662415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.708623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:277.21, Y:-60.01, Z:-5.68 [[ 9.64697410e-01 2.62929841e-01 1.50600984e-02 2.77208915e+02] [-2.62903285e-01 9.64814896e-01 -3.75221621e-03 -6.00084004e+01] [-1.55167769e-02 -3.39596081e-04 9.99879550e-01 -5.67790596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:277.24, Y:-60.01, Z:-5.68 [[ 9.64632093e-01 2.63187490e-01 1.47400542e-02 2.77237049e+02] [-2.63162093e-01 9.64744646e-01 -3.67175598e-03 -6.00127701e+01] [-1.51867486e-02 -3.37129849e-04 9.99884618e-01 -5.67827224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.768623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:277.27, Y:-60.01, Z:-5.68 [[ 9.64568940e-01 2.63435713e-01 1.44355613e-02 2.77265342e+02] [-2.63411391e-01 9.64676896e-01 -3.59524788e-03 -6.00147130e+01] [-1.48727691e-02 -3.34626833e-04 9.99889338e-01 -5.67911509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79862385300004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:277.29, Y:-60.02, Z:-5.68 [[ 9.64620961e-01 2.63258192e-01 1.41959856e-02 2.77293066e+02] [-2.63234665e-01 9.64725358e-01 -3.53470042e-03 -6.00189460e+01] [-1.46257662e-02 -3.27229411e-04 9.99892984e-01 -5.67933658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.828623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:277.32, Y:-60.02, Z:-5.68 [[ 9.64806251e-01 2.62596640e-01 1.38529286e-02 2.77321967e+02] [-2.62574180e-01 9.64905647e-01 -3.44839431e-03 -6.00208236e+01] [-1.42723058e-02 -3.10388987e-04 9.99898097e-01 -5.68004455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:277.35, Y:-60.02, Z:-5.68 [[ 9.65029723e-01 2.61757984e-01 1.41559932e-02 2.77349497e+02] [-2.61734449e-01 9.65133496e-01 -3.52323074e-03 -6.00245126e+01] [-1.45846570e-02 -3.05088705e-04 9.99893592e-01 -5.68047228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.888623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:277.38, Y:-60.03, Z:-5.68 [[ 9.65211623e-01 2.61077532e-01 1.43193657e-02 2.77376822e+02] [-2.61053393e-01 9.65317788e-01 -3.56275843e-03 -6.00283476e+01] [-1.47528946e-02 -2.99303146e-04 9.99891125e-01 -5.68058271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91862385300004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:277.40, Y:-60.03, Z:-5.68 [[ 9.65751270e-01 2.59019974e-01 1.52688385e-02 2.77404307e+02] [-2.58992284e-01 9.65871923e-01 -3.79813158e-03 -6.00285376e+01] [-1.57315344e-02 -2.86460958e-04 9.99876211e-01 -5.68021179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.948623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:277.43, Y:-60.03, Z:-5.68 [[ 9.66132679e-01 2.57579213e-01 1.55111473e-02 2.77431844e+02] [-2.57550480e-01 9.66257148e-01 -3.85664023e-03 -6.00320646e+01] [-1.59811474e-02 -2.68877288e-04 9.99872257e-01 -5.68096000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97862385300004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:277.46, Y:-60.04, Z:-5.67 [[ 9.66407764e-01 2.56589663e-01 1.47573538e-02 2.77459948e+02] [-2.56563556e-01 9.66520402e-01 -3.66812805e-03 -6.00353322e+01] [-1.52044872e-02 -2.41291732e-04 9.99884376e-01 -5.67303785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.008623853 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:277.49, Y:-60.04, Z:-5.68 [[ 9.67355334e-01 2.52993282e-01 1.47667365e-02 2.77488502e+02] [-2.52966736e-01 9.67468017e-01 -3.66958276e-03 -6.00364843e+01] [-1.52147251e-02 -1.85702674e-04 9.99884232e-01 -5.68244930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03862385300005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:277.52, Y:-60.04, Z:-5.68 [[ 9.67896623e-01 2.50928754e-01 1.45219568e-02 2.77515287e+02] [-2.50902863e-01 9.68005546e-01 -3.60776428e-03 -6.00402722e+01] [-1.49626265e-02 -1.51657670e-04 9.99888042e-01 -5.68310964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.068623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:277.54, Y:-60.04, Z:-5.68 [[ 9.69089341e-01 2.46257502e-01 1.49362365e-02 2.77542946e+02] [-2.46229576e-01 9.69204434e-01 -3.70947471e-03 -6.00420616e+01] [-1.53897526e-02 -8.29307807e-05 9.99881567e-01 -5.68388449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09862385300005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:277.57, Y:-60.05, Z:-5.68 [[ 9.69794541e-01 2.43469393e-01 1.48728657e-02 2.77570451e+02] [-2.43441402e-01 9.69908580e-01 -3.69194656e-03 -6.00465702e+01] [-1.53241960e-02 -4.02416567e-05 9.99882577e-01 -5.68411715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.128623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:277.60, Y:-60.05, Z:-5.69 [[ 9.70511364e-01 2.40592764e-01 1.49269680e-02 2.77597926e+02] [-2.40564245e-01 9.70626149e-01 -3.70431531e-03 -6.00515336e+01] [-1.53797369e-02 4.18531958e-06 9.99881725e-01 -5.68518516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.158623853 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:277.63, Y:-60.05, Z:-5.69 [[ 9.72018914e-01 2.34416837e-01 1.50989230e-02 2.77625922e+02] [-2.34386929e-01 9.72136172e-01 -3.74580871e-03 -6.00548849e+01] [-1.55562899e-02 1.02006703e-04 9.99878988e-01 -5.68523925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.188623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:277.65, Y:-60.06, Z:-5.69 [[ 9.72833238e-01 2.31007700e-01 1.51965115e-02 2.77653624e+02] [-2.30977003e-01 9.72951909e-01 -3.76912081e-03 -6.00599802e+01] [-1.56561708e-02 1.56681329e-04 9.99877422e-01 -5.68566030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.218623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:277.68, Y:-60.07, Z:-5.69 [[ 9.73608487e-01 2.27735502e-01 1.49350525e-02 2.77680446e+02] [-2.27705484e-01 9.73723010e-01 -3.70314750e-03 -6.00658198e+01] [-1.53859424e-02 2.04622481e-04 9.99881608e-01 -5.68632205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.248623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:277.71, Y:-60.07, Z:-5.69 [[ 9.74366150e-01 2.24496135e-01 1.45633712e-02 2.77706953e+02] [-2.24467241e-01 9.74474948e-01 -3.61030601e-03 -6.00718931e+01] [-1.50021401e-02 2.48760231e-04 9.99887431e-01 -5.68679979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.278623853 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:277.74, Y:-60.08, Z:-5.68 [[ 9.75583959e-01 2.19222397e-01 1.33221391e-02 2.77735205e+02] [-2.19197747e-01 9.75674869e-01 -3.30113274e-03 -6.00773800e+01] [-1.37217586e-02 3.00349271e-04 9.99905807e-01 -5.68053620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:277.76, Y:-60.08, Z:-5.69 [[ 9.76250130e-01 2.16189529e-01 1.40631475e-02 2.77761996e+02] [-2.16161756e-01 9.76351349e-01 -3.48403332e-03 -6.00837428e+01] [-1.44837845e-02 3.61373331e-04 9.99895039e-01 -5.68760704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.338623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:277.79, Y:-60.09, Z:-5.69 [[ 9.76257588e-01 2.16155829e-01 1.40633854e-02 2.77790483e+02] [-2.16128066e-01 9.76358811e-01 -3.48307279e-03 -6.00907125e+01] [-1.44837967e-02 3.60883967e-04 9.99895039e-01 -5.68817291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:277.82, Y:-60.10, Z:-5.69 [[ 9.76708518e-01 2.14094061e-01 1.42899845e-02 2.77817104e+02] [-2.14065182e-01 9.76812968e-01 -3.53876715e-03 -6.00972473e+01] [-1.47162712e-02 3.97355880e-04 9.99891631e-01 -5.68845964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.398623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:277.84, Y:-60.10, Z:-5.69 [[ 9.77385606e-01 2.10974461e-01 1.43928752e-02 2.77843696e+02] [-2.10944839e-01 9.77491472e-01 -3.56336089e-03 -6.01043552e+01] [-1.48206909e-02 4.46674910e-04 9.99890068e-01 -5.68790763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:277.87, Y:-60.11, Z:-5.69 [[ 9.77607448e-01 2.09933023e-01 1.45534838e-02 2.77871505e+02] [-2.09902635e-01 9.77715658e-01 -3.60219089e-03 -6.01116318e+01] [-1.49853878e-02 4.66714056e-04 9.99887604e-01 -5.68920153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.458623853 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:277.90, Y:-60.12, Z:-5.69 [[ 9.77910862e-01 2.08509674e-01 1.46308657e-02 2.77898917e+02] [-2.08478814e-01 9.78020181e-01 -3.62064141e-03 -6.01203201e+01] [-1.50642207e-02 4.90439027e-04 9.99886408e-01 -5.68958387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48862385300004 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:277.93, Y:-60.13, Z:-5.69 [[ 9.77962776e-01 2.08266945e-01 1.46180842e-02 2.77927483e+02] [-2.08236124e-01 9.78071897e-01 -3.61665087e-03 -6.01287119e+01] [-1.50507662e-02 4.92936730e-04 9.99886609e-01 -5.68979136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.518623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:277.95, Y:-60.14, Z:-5.69 [[ 9.77967397e-01 2.08250403e-01 1.45444121e-02 2.77954756e+02] [-2.08219894e-01 9.78075421e-01 -3.59809975e-03 -6.01367343e+01] [-1.49748377e-02 4.90388285e-04 9.99887751e-01 -5.69038523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:277.98, Y:-60.14, Z:-5.69 [[ 9.77978253e-01 2.08188637e-01 1.46979215e-02 2.77982759e+02] [-2.08157483e-01 9.78088567e-01 -3.63553215e-03 -6.01447293e+01] [-1.51327455e-02 4.95989034e-04 9.99885370e-01 -5.69051061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.578623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:278.01, Y:-60.15, Z:-5.69 [[ 9.77986798e-01 2.08160336e-01 1.45291582e-02 2.78009884e+02] [-2.08129900e-01 9.78094594e-01 -3.59309481e-03 -6.01549262e+01] [-1.49588309e-02 4.90047046e-04 9.99887990e-01 -5.69196757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60862385300004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:278.04, Y:-60.16, Z:-5.69 [[ 9.78004556e-01 2.08109912e-01 1.40482721e-02 2.78038142e+02] [-2.08081464e-01 9.78105332e-01 -3.47340153e-03 -6.01642391e+01] [-1.44635391e-02 4.73817503e-04 9.99895285e-01 -5.69210278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.638623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.07, Y:-60.17, Z:-5.69 [[ 9.77988726e-01 2.08212191e-01 1.36284927e-02 2.78066727e+02] [-2.08185432e-01 9.78083572e-01 -3.36928389e-03 -6.01738852e+01] [-1.40313308e-02 4.57868013e-04 9.99901451e-01 -5.69311145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66862385300004 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:278.09, Y:-60.18, Z:-5.69 [[ 9.77668832e-01 2.09807036e-01 1.20275426e-02 2.78093625e+02] [-2.09786317e-01 9.77742737e-01 -2.97332307e-03 -6.01847095e+01] [-1.23836665e-02 3.83711438e-04 9.99923246e-01 -5.68558698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.698623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:278.12, Y:-60.19, Z:-5.69 [[ 9.77544812e-01 2.10349060e-01 1.26259063e-02 2.78121112e+02] [-2.10326280e-01 9.77626266e-01 -3.12072546e-03 -6.01932470e+01] [-1.29998593e-02 3.95089071e-04 9.99915420e-01 -5.69361761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72862385300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:278.15, Y:-60.20, Z:-5.69 [[ 9.77162616e-01 2.12125088e-01 1.24967486e-02 2.78149556e+02] [-2.12102924e-01 9.77242453e-01 -3.08825822e-03 -6.02017247e+01] [-1.28674503e-02 3.67133572e-04 9.99917144e-01 -5.69431194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.758623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:278.18, Y:-60.21, Z:-5.69 [[ 9.76028455e-01 2.17279366e-01 1.25750868e-02 2.78175539e+02] [-2.17257351e-01 9.76109413e-01 -3.10755886e-03 -6.02115074e+01] [-1.29498690e-02 3.01035824e-04 9.99916102e-01 -5.69373291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.20, Y:-60.22, Z:-5.69 [[ 9.75341647e-01 2.20296488e-01 1.33465247e-02 2.78203230e+02] [-2.20271986e-01 9.75432920e-01 -3.29711118e-03 -6.02199908e+01] [-1.37449816e-02 2.75944342e-04 9.99905495e-01 -5.69428174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.818623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:278.23, Y:-60.23, Z:-5.69 [[ 9.73835074e-01 2.26788460e-01 1.45685537e-02 2.78229119e+02] [-2.26760002e-01 9.73944020e-01 -3.59823887e-03 -6.02297563e+01] [-1.50049948e-02 2.00525949e-04 9.99887399e-01 -5.69339563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84862385300005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:278.26, Y:-60.24, Z:-5.69 [[ 9.73120915e-01 2.29796846e-01 1.51358527e-02 2.78257107e+02] [-2.29766508e-01 9.73238606e-01 -3.73732068e-03 -6.02375229e+01] [-1.55896207e-02 1.59152896e-04 9.99878462e-01 -5.69373430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.878623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:278.28, Y:-60.25, Z:-5.69 [[ 9.72551125e-01 2.32173276e-01 1.54880513e-02 2.78284718e+02] [-2.32141823e-01 9.72674434e-01 -3.82349584e-03 -6.02452216e+01] [-1.59525451e-02 1.23120703e-04 9.99872742e-01 -5.69425533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.908623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:278.31, Y:-60.25, Z:-5.70 [[ 9.71756425e-01 2.35493366e-01 1.52421758e-02 2.78312193e+02] [-2.35463324e-01 9.71875954e-01 -3.76204931e-03 -6.02543232e+01] [-1.56994418e-02 6.68222147e-05 9.99876754e-01 -5.69521601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.938623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:278.34, Y:-60.26, Z:-5.70 [[ 9.71519937e-01 2.36475277e-01 1.51147490e-02 2.78339136e+02] [-2.36445865e-01 9.71637505e-01 -3.72987706e-03 -6.02620893e+01] [-1.55680808e-02 4.98300154e-05 9.99878809e-01 -5.69594767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.968623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:278.37, Y:-60.27, Z:-5.70 [[ 9.71319379e-01 2.37302424e-01 1.50407600e-02 2.78365312e+02] [-2.37273413e-01 9.71435823e-01 -3.71066776e-03 -6.02701375e+01] [-1.54916835e-02 3.54710383e-05 9.99879996e-01 -5.69682513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.998623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.39, Y:-60.28, Z:-5.70 [[ 9.71210361e-01 2.37772593e-01 1.46502429e-02 2.78392988e+02] [-2.37745137e-01 9.71320850e-01 -3.61337698e-03 -6.02783675e+01] [-1.50892484e-02 2.63251622e-05 9.99886150e-01 -5.69770642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.028623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.42, Y:-60.29, Z:-5.70 [[ 9.70896215e-01 2.39109533e-01 1.36810106e-02 2.78419057e+02] [-2.39085730e-01 9.70992601e-01 -3.37376306e-03 -6.02878650e+01] [-1.40908590e-02 4.63937759e-06 9.99900719e-01 -5.69876311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:278.45, Y:-60.30, Z:-5.70 [[ 9.70671392e-01 2.40034415e-01 1.34361224e-02 2.78447306e+02] [-2.40011558e-01 9.70764379e-01 -3.31248867e-03 -6.02957611e+01] [-1.38384203e-02 -9.48668291e-06 9.99904244e-01 -5.69915257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.088623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:278.47, Y:-60.30, Z:-5.70 [[ 9.70117648e-01 2.42246905e-01 1.37180576e-02 2.78474668e+02] [-2.42223310e-01 9.70214633e-01 -3.38130949e-03 -6.03033538e+01] [-1.41285720e-02 -4.25653039e-05 9.99900186e-01 -5.69983927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:278.50, Y:-60.31, Z:-5.70 [[ 9.69849732e-01 2.43302559e-01 1.39772048e-02 2.78502969e+02] [-2.43278183e-01 9.69950443e-01 -3.44449691e-03 -6.03106424e+01] [-1.43952509e-02 -5.97045809e-05 9.99896381e-01 -5.70007845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.148623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:278.53, Y:-60.32, Z:-5.70 [[ 9.69555278e-01 2.44453336e-01 1.43223124e-02 2.78530894e+02] [-2.44427878e-01 9.69661054e-01 -3.52881176e-03 -6.03177808e+01] [-1.47504183e-02 -7.93943408e-05 9.99891204e-01 -5.70032419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:278.56, Y:-60.32, Z:-5.70 [[ 9.68946388e-01 2.46814002e-01 1.50248021e-02 2.78557964e+02] [-2.46786280e-01 9.69062864e-01 -3.70114970e-03 -6.03245009e+01] [-1.54734733e-02 -1.21699382e-04 9.99880271e-01 -5.70024441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.208623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.59, Y:-60.33, Z:-5.70 [[ 9.68661169e-01 2.47934110e-01 1.49738408e-02 2.78586751e+02] [-2.47906727e-01 9.68776887e-01 -3.68747666e-03 -6.03308955e+01] [-1.54205621e-02 -1.40200399e-04 9.99881086e-01 -5.70066378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.61, Y:-60.34, Z:-5.70 [[ 9.68402211e-01 2.48941730e-01 1.50057358e-02 2.78613491e+02] [-2.48914354e-01 9.68518451e-01 -3.69508453e-03 -6.03366192e+01] [-1.54531927e-02 -1.56815002e-04 9.99880580e-01 -5.70174647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.64, Y:-60.34, Z:-5.70 [[ 9.67937264e-01 2.50769366e-01 1.45663568e-02 2.78642101e+02] [-2.50743791e-01 9.68046844e-01 -3.58592829e-03 -6.03424502e+01] [-1.50001567e-02 -1.81469909e-04 9.99887475e-01 -5.70215767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29862385300004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:278.67, Y:-60.35, Z:-5.70 [[ 9.67740146e-01 2.51547845e-01 1.42369779e-02 2.78669253e+02] [-2.51523507e-01 9.67844846e-01 -3.50420209e-03 -6.03480784e+01] [-1.46606602e-02 -1.89777584e-04 9.99892509e-01 -5.70290224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.328623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.70, Y:-60.35, Z:-5.70 [[ 9.67556283e-01 2.52265717e-01 1.40302223e-02 2.78698272e+02] [-2.52242170e-01 9.67657981e-01 -3.45239679e-03 -6.03516743e+01] [-1.44473780e-02 -1.98625518e-04 9.99895611e-01 -5.70373545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.73, Y:-60.36, Z:-5.70 [[ 9.67513033e-01 2.52417481e-01 1.42809961e-02 2.78725636e+02] [-2.52393112e-01 9.67618403e-01 -3.51342055e-03 -6.03569825e+01] [-1.47054034e-02 -2.05144866e-04 9.99891849e-01 -5.70434030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.388623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:278.75, Y:-60.36, Z:-5.70 [[ 9.67567294e-01 2.52190308e-01 1.46143832e-02 2.78754164e+02] [-2.52164776e-01 9.67677635e-01 -3.59445115e-03 -6.03624210e+01] [-1.50484975e-02 -2.07359286e-04 9.99886743e-01 -5.70434203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:278.78, Y:-60.37, Z:-5.71 [[ 9.67880508e-01 2.50948067e-01 1.52443226e-02 2.78782121e+02] [-2.50920145e-01 9.68000531e-01 -3.74860775e-03 -6.03661244e+01] [-1.56972182e-02 -1.96903254e-04 9.99876772e-01 -5.70516601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.448623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:278.81, Y:-60.37, Z:-5.71 [[ 9.68068772e-01 2.50216158e-01 1.53207721e-02 2.78809397e+02] [-2.50187879e-01 9.68189981e-01 -3.76644247e-03 -6.03717117e+01] [-1.57758428e-02 -1.86896136e-04 9.99875536e-01 -5.70591914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:278.84, Y:-60.38, Z:-5.71 [[ 9.68336957e-01 2.49181958e-01 1.52278893e-02 2.78837056e+02] [-2.49153909e-01 9.68456671e-01 -3.74261708e-03 -6.03771615e+01] [-1.56801436e-02 -1.69973690e-04 9.99877045e-01 -5.70622334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.508623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:278.87, Y:-60.38, Z:-5.71 [[ 9.69013393e-01 2.46535219e-01 1.52784433e-02 2.78865580e+02] [-2.46506672e-01 9.69133824e-01 -3.75382781e-03 -6.03816625e+01] [-1.57323070e-02 -1.28728799e-04 9.99876231e-01 -5.70678837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.89, Y:-60.39, Z:-5.71 [[ 9.69343327e-01 2.45238069e-01 1.52250823e-02 2.78893463e+02] [-2.45209574e-01 9.69462881e-01 -3.73995607e-03 -6.03869579e+01] [-1.56773318e-02 -1.08034491e-04 9.99877097e-01 -5.70771644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.568623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.92, Y:-60.39, Z:-5.71 [[ 9.69722461e-01 2.43734257e-01 1.52302302e-02 2.78921717e+02] [-2.43705569e-01 9.69842051e-01 -3.74045290e-03 -6.03922824e+01] [-1.56825942e-02 -8.44907150e-05 9.99877017e-01 -5.70832685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:278.95, Y:-60.40, Z:-5.71 [[ 9.70110653e-01 2.42191684e-01 1.51165105e-02 2.78948714e+02] [-2.42163246e-01 9.70228419e-01 -3.71180902e-03 -6.03974816e+01] [-1.55654373e-02 -5.97977773e-05 9.99878849e-01 -5.70901104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.628623853 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:278.98, Y:-60.40, Z:-5.71 [[ 9.70944463e-01 2.38875503e-01 1.43298140e-02 2.78976435e+02] [-2.38849599e-01 9.71050202e-01 -3.51780682e-03 -6.04020681e+01] [-1.47552867e-02 -7.07528055e-06 9.99891135e-01 -5.70973160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.658623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:279.00, Y:-60.41, Z:-5.71 [[ 9.71412564e-01 2.36981099e-01 1.40566200e-02 2.79004562e+02] [-2.36955989e-01 9.71514261e-01 -3.44976144e-03 -6.04083621e+01] [-1.44737350e-02 2.03413189e-05 9.99895250e-01 -5.71033647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.688623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:279.03, Y:-60.41, Z:-5.71 [[ 9.72411841e-01 2.32860111e-01 1.38340056e-02 2.79033151e+02] [-2.32835382e-01 9.72510238e-01 -3.39443663e-03 -6.04141297e+01] [-1.42441410e-02 7.97443852e-05 9.99898544e-01 -5.71152383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.718623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.06, Y:-60.42, Z:-5.71 [[ 9.72887218e-01 2.30864993e-01 1.38497391e-02 2.79061393e+02] [-2.30840017e-01 9.72985788e-01 -3.39758393e-03 -6.04200595e+01] [-1.42599825e-02 1.08391981e-04 9.99898315e-01 -5.71187080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.09, Y:-60.43, Z:-5.71 [[ 9.73306160e-01 2.29063651e-01 1.43165295e-02 2.79088224e+02] [-2.29036778e-01 9.73411436e-01 -3.51138871e-03 -6.04256786e+01] [-1.47402051e-02 1.38644477e-04 9.99891348e-01 -5.71236634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.778623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.12, Y:-60.43, Z:-5.71 [[ 9.73661004e-01 2.27524816e-01 1.47209767e-02 2.79115137e+02] [-2.27496242e-01 9.73772268e-01 -3.60962141e-03 -6.04315779e+01] [-1.51561573e-02 1.65580743e-04 9.99885125e-01 -5.71259894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.14, Y:-60.44, Z:-5.71 [[ 9.74182052e-01 2.25267892e-01 1.49568084e-02 2.79142935e+02] [-2.25238145e-01 9.74296842e-01 -3.66638784e-03 -6.04378488e+01] [-1.53982906e-02 2.02885459e-04 9.99881419e-01 -5.71210521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.838623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.17, Y:-60.44, Z:-5.71 [[ 9.74375904e-01 2.24408593e-01 1.52440535e-02 2.79171479e+02] [-2.24377599e-01 9.74495118e-01 -3.73604612e-03 -6.04445173e+01] [-1.56936566e-02 2.19889185e-04 9.99876823e-01 -5.71277900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86862385300003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:279.20, Y:-60.45, Z:-5.71 [[ 9.74678618e-01 2.23066483e-01 1.55863682e-02 2.79198687e+02] [-2.23033922e-01 9.74803202e-01 -3.81918802e-03 -6.04509368e+01] [-1.60455745e-02 2.46192078e-04 9.99871231e-01 -5.71323729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.898623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:279.23, Y:-60.46, Z:-5.71 [[ 9.74779024e-01 2.22651478e-01 1.52372597e-02 2.79225987e+02] [-2.22620323e-01 9.74898076e-01 -3.73272387e-03 -6.04577782e+01] [-1.56858716e-02 2.46457246e-04 9.99876939e-01 -5.71409179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.25, Y:-60.46, Z:-5.71 [[ 9.74891288e-01 2.22176571e-01 1.49848959e-02 2.79253520e+02] [-2.22146396e-01 9.75006415e-01 -3.67006987e-03 -6.04644736e+01] [-1.54257732e-02 2.49078512e-04 9.99880985e-01 -5.71495032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.958623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.28, Y:-60.47, Z:-5.72 [[ 9.74971895e-01 2.21849576e-01 1.45798047e-02 2.79280325e+02] [-2.21820989e-01 9.75080871e-01 -3.56987455e-03 -6.04708126e+01] [-1.50084639e-02 2.46420654e-04 9.99887336e-01 -5.71556939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.31, Y:-60.48, Z:-5.72 [[ 9.75036585e-01 2.21598538e-01 1.40622140e-02 2.79307522e+02] [-2.21571933e-01 9.75137954e-01 -3.44215552e-03 -6.04768374e+01] [-1.44753753e-02 2.40435621e-04 9.99895197e-01 -5.71674673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.018623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.33, Y:-60.48, Z:-5.72 [[ 9.75059084e-01 2.21518299e-01 1.37631897e-02 2.79334477e+02] [-2.21492815e-01 9.75156186e-01 -3.36824796e-03 -6.04833763e+01] [-1.41673881e-02 2.35793132e-04 9.99899610e-01 -5.71726038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.36, Y:-60.49, Z:-5.72 [[ 9.74994058e-01 2.21790602e-01 1.39827308e-02 2.79361629e+02] [-2.21764342e-01 9.75094290e-01 -3.42093147e-03 -6.04903913e+01] [-1.43932114e-02 2.34516774e-04 9.99896385e-01 -5.71803761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.078623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.39, Y:-60.50, Z:-5.72 [[ 9.74797810e-01 2.22615999e-01 1.45377813e-02 2.79389106e+02] [-2.22587717e-01 9.74906182e-01 -3.55589942e-03 -6.04977397e+01] [-1.49645729e-02 2.30351428e-04 9.99887998e-01 -5.71816113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.42, Y:-60.51, Z:-5.72 [[ 9.74675762e-01 2.23152369e-01 1.44975379e-02 2.79417456e+02] [-2.23124318e-01 9.74783551e-01 -3.54498174e-03 -6.05050835e+01] [-1.49230326e-02 2.20454517e-04 9.99888621e-01 -5.71861332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.138623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.44, Y:-60.51, Z:-5.72 [[ 9.74516385e-01 2.23822340e-01 1.48786806e-02 2.79444484e+02] [-2.23792884e-01 9.74629937e-01 -3.63746199e-03 -6.05125097e+01] [-1.53153528e-02 2.15023473e-04 9.99882690e-01 -5.71953755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:279.47, Y:-60.52, Z:-5.72 [[ 9.74444000e-01 2.24132059e-01 1.49569649e-02 2.79471102e+02] [-2.24102343e-01 9.74558760e-01 -3.65564706e-03 -6.05191666e+01] [-1.53957889e-02 2.10332458e-04 9.99881456e-01 -5.71997733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.198623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.50, Y:-60.53, Z:-5.72 [[ 9.74423272e-01 2.24211775e-01 1.51118186e-02 2.79499561e+02] [-2.24181465e-01 9.74540423e-01 -3.69260981e-03 -6.05259557e+01] [-1.55550047e-02 2.10375298e-04 9.99878991e-01 -5.72085881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.53, Y:-60.53, Z:-5.72 [[ 9.74467235e-01 2.24020143e-01 1.51189731e-02 2.79527600e+02] [-2.23989792e-01 9.74584491e-01 -3.69361635e-03 -6.05329697e+01] [-1.55621611e-02 2.12812482e-04 9.99878880e-01 -5.72137674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.56, Y:-60.54, Z:-5.72 [[ 9.74670395e-01 2.23154835e-01 1.48169077e-02 2.79555389e+02] [-2.23125596e-01 9.74782986e-01 -3.61909656e-03 -6.05419072e+01] [-1.52508885e-02 2.21394913e-04 9.99883674e-01 -5.72233056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.58, Y:-60.55, Z:-5.72 [[ 9.74688429e-01 2.23076045e-01 1.48170507e-02 2.79583903e+02] [-2.23046806e-01 9.74801020e-01 -3.61851128e-03 -6.05487642e+01] [-1.52508793e-02 2.22025254e-04 9.99883674e-01 -5.72289642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.318623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:279.61, Y:-60.56, Z:-5.72 [[ 9.74755680e-01 2.22787367e-01 1.47361491e-02 2.79611273e+02] [-2.22758436e-01 9.74867036e-01 -3.59727678e-03 -6.05571911e+01] [-1.51672139e-02 2.23864438e-04 9.99884946e-01 -5.72323883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.64, Y:-60.57, Z:-5.72 [[ 9.74810801e-01 2.22541100e-01 1.48108594e-02 2.79639407e+02] [-2.22511853e-01 9.74923282e-01 -3.61505437e-03 -6.05652238e+01] [-1.52439498e-02 2.28402270e-04 9.99883778e-01 -5.72391043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.378623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:279.67, Y:-60.57, Z:-5.72 [[ 9.74624590e-01 2.23342545e-01 1.50005427e-02 2.79666500e+02] [-2.23312644e-01 9.74739996e-01 -3.66100841e-03 -6.05737593e+01] [-1.54392878e-02 2.18297978e-04 9.99880783e-01 -5.72362537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.408623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.69, Y:-60.58, Z:-5.72 [[ 9.74358888e-01 2.24480881e-01 1.52673188e-02 2.79694800e+02] [-2.24450056e-01 9.74478472e-01 -3.72555531e-03 -6.05812977e+01] [-1.57139895e-02 2.03277367e-04 9.99876507e-01 -5.72404549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.438623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:279.72, Y:-60.59, Z:-5.72 [[ 9.73428605e-01 2.28476302e-01 1.53404744e-02 2.79721268e+02] [-2.28445687e-01 9.73549465e-01 -3.74268917e-03 -6.05884160e+01] [-1.57898264e-02 1.38775484e-04 9.99875323e-01 -5.72400496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.468623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.75, Y:-60.59, Z:-5.73 [[ 9.72854019e-01 2.30922829e-01 1.51560210e-02 2.79749543e+02] [-2.30893258e-01 9.72972064e-01 -3.69673251e-03 -6.05947290e+01] [-1.56000450e-02 9.69580106e-05 9.99878307e-01 -5.72559129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.498623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:279.78, Y:-60.60, Z:-5.73 [[ 9.72186198e-01 2.33754065e-01 1.45956593e-02 2.79776472e+02] [-2.33726969e-01 9.72295755e-01 -3.55941002e-03 -6.06009141e+01] [-1.50233242e-02 4.90100733e-05 9.99887142e-01 -5.72615798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.528623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:279.80, Y:-60.61, Z:-5.73 [[ 9.70972335e-01 2.38751041e-01 1.45142942e-02 2.79803578e+02] [-2.38724817e-01 9.71080810e-01 -3.53866570e-03 -6.06059433e+01] [-1.49394127e-02 -2.89757410e-05 9.99888400e-01 -5.72745661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.83, Y:-60.61, Z:-5.73 [[ 9.70429389e-01 2.40948990e-01 1.45046828e-02 2.79831814e+02] [-2.40923060e-01 9.70537779e-01 -3.53540683e-03 -6.06117519e+01] [-1.49291953e-02 -6.36498748e-05 9.99888551e-01 -5.72792338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.588623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:279.86, Y:-60.62, Z:-5.73 [[ 9.69972719e-01 2.42776763e-01 1.45728121e-02 2.79858781e+02] [-2.42750806e-01 9.70082179e-01 -3.55131156e-03 -6.06169361e+01] [-1.49990013e-02 -9.28865487e-05 9.99887504e-01 -5.72857721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:279.89, Y:-60.62, Z:-5.73 [[ 9.69591252e-01 2.44256963e-01 1.52098487e-02 2.79887341e+02] [-2.44228885e-01 9.69710535e-01 -3.70549408e-03 -6.06210344e+01] [-1.56542433e-02 -1.21869740e-04 9.99877457e-01 -5.72930705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.648623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.91, Y:-60.63, Z:-5.73 [[ 9.69587577e-01 2.44264420e-01 1.53239329e-02 2.79914716e+02] [-2.44235931e-01 9.69708656e-01 -3.73252737e-03 -6.06268089e+01] [-1.57714740e-02 -1.23642859e-04 9.99875615e-01 -5.72982001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:279.94, Y:-60.63, Z:-5.73 [[ 9.69951029e-01 2.42823976e-01 1.52157048e-02 2.79942642e+02] [-2.42795727e-01 9.70070362e-01 -3.70522618e-03 -6.06325260e+01] [-1.56600220e-02 -1.00420147e-04 9.99877369e-01 -5.73051534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:279.97, Y:-60.64, Z:-5.73 [[ 9.70140613e-01 2.42083091e-01 1.49321179e-02 2.79970262e+02] [-2.42055815e-01 9.70255517e-01 -3.63499561e-03 -6.06389245e+01] [-1.53679407e-02 -8.79490956e-05 9.99881902e-01 -5.73102565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:280.00, Y:-60.65, Z:-5.73 [[ 9.70375276e-01 2.41148190e-01 1.48112638e-02 2.79998323e+02] [-2.41121256e-01 9.70488302e-01 -3.60482009e-03 -6.06450778e+01] [-1.52434541e-02 -7.32822397e-05 9.99883809e-01 -5.73192186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.03, Y:-60.65, Z:-5.73 [[ 9.70836473e-01 2.39307958e-01 1.44306393e-02 2.80025590e+02] [-2.39282197e-01 9.70943716e-01 -3.51151729e-03 -6.06496644e+01] [-1.48516726e-02 -4.38860273e-05 9.99889707e-01 -5.73257296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.05, Y:-60.65, Z:-5.73 [[ 9.71158185e-01 2.37999683e-01 1.44198020e-02 2.80052117e+02] [-2.37973827e-01 9.71265232e-01 -3.50814956e-03 -6.06545165e+01] [-1.48403908e-02 -2.45673081e-05 9.99889875e-01 -5.73332973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.828623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:280.08, Y:-60.66, Z:-5.73 [[ 9.71468445e-01 2.36749401e-01 1.40989965e-02 2.80079364e+02] [-2.36724576e-01 9.71570749e-01 -3.42847789e-03 -6.06599477e+01] [-1.45098627e-02 -6.92088559e-06 9.99894726e-01 -5.73370221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.11, Y:-60.67, Z:-5.73 [[ 9.71857812e-01 2.35162892e-01 1.38133197e-02 2.80106734e+02] [-2.35138916e-01 9.71955973e-01 -3.35798661e-03 -6.06656252e+01] [-1.42156124e-02 1.54365078e-05 9.99898953e-01 -5.73493751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.13, Y:-60.67, Z:-5.74 [[ 9.72630696e-01 2.31948112e-01 1.37696377e-02 2.80133448e+02] [-2.31923981e-01 9.72728158e-01 -3.34626602e-03 -6.06715973e+01] [-1.41702744e-02 6.11718592e-05 9.99899595e-01 -5.73559769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91862385300004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:280.16, Y:-60.68, Z:-5.73 [[ 9.72972645e-01 2.30499712e-01 1.39324745e-02 2.80161563e+02] [-2.30474872e-01 9.73072390e-01 -3.38489029e-03 -6.06782623e+01] [-1.43375225e-02 8.23203768e-05 9.99897209e-01 -5.73233191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.948623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:280.19, Y:-60.68, Z:-5.74 [[ 9.73407797e-01 2.28606271e-01 1.47116652e-02 2.80189645e+02] [-2.28578370e-01 9.73518957e-01 -3.57339383e-03 -6.06840670e+01] [-1.51389852e-02 1.15600966e-04 9.99885392e-01 -5.73623862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.22, Y:-60.69, Z:-5.74 [[ 9.74195676e-01 2.25172864e-01 1.54908423e-02 2.80216825e+02] [-2.25141508e-01 9.74318813e-01 -3.76186154e-03 -6.06890920e+01] [-1.59400883e-02 1.77157647e-04 9.99872933e-01 -5.73599618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.008623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.25, Y:-60.70, Z:-5.74 [[ 9.74560323e-01 2.23559821e-01 1.59117598e-02 2.80245492e+02] [-2.23526539e-01 9.74690188e-01 -3.86301594e-03 -6.06951820e+01] [-1.63726513e-02 2.08041448e-04 9.99865938e-01 -5.73595560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.27, Y:-60.70, Z:-5.74 [[ 9.74941464e-01 2.21862696e-01 1.63121264e-02 2.80272970e+02] [-2.21827495e-01 9.75077887e-01 -3.95939436e-03 -6.07012322e+01] [-1.67840356e-02 2.41699604e-04 9.99859109e-01 -5.73616227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.068623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:280.30, Y:-60.71, Z:-5.74 [[ 9.75667030e-01 2.18660189e-01 1.61730561e-02 2.80300530e+02] [-2.18625162e-01 9.75801023e-01 -3.92460059e-03 -6.07090654e+01] [-1.66398386e-02 2.93266396e-04 9.99861505e-01 -5.73710241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09862385300005 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:280.33, Y:-60.72, Z:-5.74 [[ 9.75979101e-01 2.17293069e-01 1.57643918e-02 2.80327388e+02] [-2.17259624e-01 9.76106361e-01 -3.82468898e-03 -6.07160343e+01] [-1.62188015e-02 3.07850671e-04 9.99868419e-01 -5.73770845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.128623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:280.36, Y:-60.72, Z:-5.74 [[ 9.76221605e-01 2.16227275e-01 1.53994956e-02 2.80355537e+02] [-2.16195243e-01 9.76343006e-01 -3.73516748e-03 -6.07226183e+01] [-1.58428349e-02 3.17053494e-04 9.99874444e-01 -5.73794126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.158623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.38, Y:-60.73, Z:-5.74 [[ 9.76395444e-01 2.15452011e-01 1.52436063e-02 2.80383745e+02] [-2.15420543e-01 9.76514375e-01 -3.69660928e-03 -6.07287350e+01] [-1.56820426e-02 3.25566519e-04 9.99876976e-01 -5.73893799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.188623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:280.41, Y:-60.73, Z:-5.74 [[ 9.76583302e-01 2.14593281e-01 1.53224506e-02 2.80410613e+02] [-2.14561392e-01 9.76703439e-01 -3.71500451e-03 -6.07344514e+01] [-1.57627052e-02 3.40405037e-04 9.99875703e-01 -5.73968651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.218623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:280.44, Y:-60.74, Z:-5.74 [[ 9.76618978e-01 2.14426568e-01 1.53824212e-02 2.80438257e+02] [-2.14394424e-01 9.76740052e-01 -3.72854908e-03 -6.07412591e+01] [-1.58241268e-02 3.43466460e-04 9.99874732e-01 -5.74020896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.248623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:280.47, Y:-60.75, Z:-5.74 [[ 9.76608141e-01 2.14477792e-01 1.53562803e-02 2.80465268e+02] [-2.14445775e-01 9.76728806e-01 -3.72149863e-03 -6.07478183e+01] [-1.57971001e-02 3.41356431e-04 9.99875160e-01 -5.74054427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.49, Y:-60.75, Z:-5.74 [[ 9.76439384e-01 2.15250973e-01 1.52691718e-02 2.80491960e+02] [-2.15219427e-01 9.76558709e-01 -3.69945391e-03 -6.07546714e+01] [-1.57075538e-02 3.26070088e-04 9.99876576e-01 -5.74109156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.52, Y:-60.76, Z:-5.74 [[ 9.76283447e-01 2.15970610e-01 1.50773513e-02 2.80520309e+02] [-2.15939952e-01 9.76399816e-01 -3.65202839e-03 -6.07615566e+01] [-1.55102539e-02 3.09612353e-04 9.99879661e-01 -5.74159320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.338623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.55, Y:-60.77, Z:-5.74 [[ 9.76134382e-01 2.16647738e-01 1.50141651e-02 2.80547230e+02] [-2.16617428e-01 9.76249799e-01 -3.63603758e-03 -6.07676203e+01] [-1.54453150e-02 2.96931479e-04 9.99880670e-01 -5.74258816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36862385300003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:280.58, Y:-60.77, Z:-5.74 [[ 9.75825335e-01 2.18055025e-01 1.47282540e-02 2.80575157e+02] [-2.18026032e-01 9.75936440e-01 -3.56587493e-03 -6.07737557e+01] [-1.51513967e-02 2.68528321e-04 9.99885175e-01 -5.73658421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.398623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:280.60, Y:-60.78, Z:-5.74 [[ 9.75781324e-01 2.18240656e-01 1.48937847e-02 2.80603030e+02] [-2.18211040e-01 9.75894945e-01 -3.60522596e-03 -6.07795351e+01] [-1.53215761e-02 2.67923917e-04 9.99882582e-01 -5.74363115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42862385300003 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:280.63, Y:-60.79, Z:-5.74 [[ 9.75720061e-01 2.18515666e-01 1.48750358e-02 2.80629805e+02] [-2.18486168e-01 9.75833405e-01 -3.59997966e-03 -6.07863453e+01] [-1.53022087e-02 2.62582812e-04 9.99882880e-01 -5.74437034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.458623853 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:280.66, Y:-60.79, Z:-5.74 [[ 9.75504494e-01 2.19493189e-01 1.46192246e-02 2.80656340e+02] [-2.19464820e-01 9.75614002e-01 -3.53716475e-03 -6.07932309e+01] [-1.50391038e-02 2.42114618e-04 9.99886877e-01 -5.74468951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48862385300004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:280.68, Y:-60.80, Z:-5.75 [[ 9.75391789e-01 2.20000918e-01 1.45070438e-02 2.80684446e+02] [-2.19973053e-01 9.75499637e-01 -3.50907629e-03 -6.07994826e+01] [-1.49236159e-02 2.31565492e-04 9.99888610e-01 -5.74540828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.518623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.71, Y:-60.81, Z:-5.75 [[ 9.75229105e-01 2.20751205e-01 1.40391609e-02 2.80712843e+02] [-2.20725196e-01 9.75330129e-01 -3.39523638e-03 -6.08058659e+01] [-1.44423191e-02 2.12336798e-04 9.99895682e-01 -5.74614281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.74, Y:-60.81, Z:-5.75 [[ 9.74990302e-01 2.21816897e-01 1.38265948e-02 2.80739722e+02] [-2.21791785e-01 9.75088318e-01 -3.34319998e-03 -6.08119506e+01] [-1.42237293e-02 1.92962405e-04 9.99898819e-01 -5.74691622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.578623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:280.77, Y:-60.82, Z:-5.75 [[ 9.74441820e-01 2.24215936e-01 1.37968439e-02 2.80767637e+02] [-2.24191186e-01 9.74539476e-01 -3.33506682e-03 -6.08176320e+01] [-1.41933441e-02 1.56697787e-04 9.99899257e-01 -5.74728719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:280.80, Y:-60.82, Z:-5.74 [[ 9.74127900e-01 2.25593166e-01 1.35114392e-02 2.80795976e+02] [-2.25569570e-01 9.74221590e-01 -3.26542628e-03 -6.08243630e+01] [-1.38997936e-02 1.33173313e-04 9.99903384e-01 -5.74484002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.638623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:280.82, Y:-60.83, Z:-5.75 [[ 9.73897811e-01 2.26591841e-01 1.33862102e-02 2.80823997e+02] [-2.26568785e-01 9.73989797e-01 -3.23449880e-03 -6.08299880e+01] [-1.37709432e-02 1.17173925e-04 9.99905169e-01 -5.74833149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:280.85, Y:-60.83, Z:-5.75 [[ 9.73342498e-01 2.28956131e-01 1.35451849e-02 2.80851406e+02] [-2.28932762e-01 9.73436738e-01 -3.27227108e-03 -6.08349338e+01] [-1.39345871e-02 8.41039216e-05 9.99902905e-01 -5.74876882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.698623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:280.88, Y:-60.84, Z:-5.75 [[ 9.73172127e-01 2.29677589e-01 1.35726196e-02 2.80879278e+02] [-2.29654206e-01 9.73266767e-01 -3.27809182e-03 -6.08404063e+01] [-1.39626838e-02 7.31384060e-05 9.99902514e-01 -5.74953032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72862385300004 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:280.91, Y:-60.85, Z:-5.74 [[ 9.73012343e-01 2.30365935e-01 1.33609834e-02 2.80906829e+02] [-2.30343354e-01 9.73104071e-01 -3.22599496e-03 -6.08467080e+01] [-1.37447867e-02 6.13191925e-05 9.99905534e-01 -5.74274557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.758623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:280.93, Y:-60.85, Z:-5.75 [[ 9.72895956e-01 2.30787572e-01 1.45105642e-02 2.80934970e+02] [-2.30761003e-01 9.73004159e-01 -3.50233096e-03 -6.08505264e+01] [-1.49271338e-02 5.89312748e-05 9.99888582e-01 -5.75016912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:280.96, Y:-60.86, Z:-5.75 [[ 9.72848139e-01 2.30971305e-01 1.47903920e-02 2.80962383e+02] [-2.30943741e-01 9.72960561e-01 -3.56864731e-03 -6.08566169e+01] [-1.52147233e-02 5.60034201e-05 9.99884248e-01 -5.75085368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.818623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:280.99, Y:-60.86, Z:-5.75 [[ 9.73004939e-01 2.30294462e-01 1.50282917e-02 2.80989923e+02] [-2.30265938e-01 9.73120987e-01 -3.62511108e-03 -6.08615560e+01] [-1.54591891e-02 6.67473016e-05 9.99880497e-01 -5.75102220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:281.02, Y:-60.87, Z:-5.75 [[ 9.73112752e-01 2.29859233e-01 1.47073384e-02 2.81016637e+02] [-2.29831879e-01 9.73223884e-01 -3.54675152e-03 -6.08671971e+01] [-1.51287866e-02 7.11738990e-05 9.99885551e-01 -5.75175798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.878623853 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:281.04, Y:-60.87, Z:-5.75 [[ 9.73281306e-01 2.29166553e-01 1.43593015e-02 2.81044051e+02] [-2.29140428e-01 9.73387222e-01 -3.46118020e-03 -6.08730701e+01] [-1.47703473e-02 7.84055123e-05 9.99890909e-01 -5.74925650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.908623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:281.07, Y:-60.88, Z:-5.75 [[ 9.73586473e-01 2.27880510e-01 1.41369178e-02 2.81071530e+02] [-2.27855068e-01 9.73689100e-01 -3.40645758e-03 -6.08775948e+01] [-1.45412281e-02 9.53126611e-05 9.99894266e-01 -5.75278403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.938623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.10, Y:-60.88, Z:-5.75 [[ 9.73820227e-01 2.26865278e-01 1.43635505e-02 2.81098427e+02] [-2.26838916e-01 9.73926144e-01 -3.46019123e-03 -6.08833339e+01] [-1.47740345e-02 1.11392000e-04 9.99890852e-01 -5.75383521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.968623853 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:281.13, Y:-60.89, Z:-5.75 [[ 9.74056167e-01 2.25876309e-01 1.39454722e-02 2.81125689e+02] [-2.25851373e-01 9.74155983e-01 -3.35846360e-03 -6.08900347e+01] [-1.43436625e-02 1.21728141e-04 9.99897117e-01 -5.74632471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.998623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:281.15, Y:-60.90, Z:-5.75 [[ 9.74378294e-01 2.24443023e-01 1.45694698e-02 2.81153125e+02] [-2.24415662e-01 9.74487202e-01 -3.50753002e-03 -6.08951394e+01] [-1.49850025e-02 1.48043901e-04 9.99887708e-01 -5.75463703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.028623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:281.18, Y:-60.90, Z:-5.76 [[ 9.75066430e-01 2.21446205e-01 1.43886997e-02 2.81180080e+02] [-2.21419206e-01 9.75172570e-01 -3.46312800e-03 -6.09009244e+01] [-1.47983618e-02 1.90845406e-04 9.99890480e-01 -5.75551170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:281.21, Y:-60.91, Z:-5.76 [[ 9.75460418e-01 2.19709524e-01 1.43072892e-02 2.81206847e+02] [-2.19682655e-01 9.75565313e-01 -3.44271319e-03 -6.09075382e+01] [-1.47140919e-02 2.15167178e-04 9.99891719e-01 -5.75594304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.088623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.23, Y:-60.91, Z:-5.76 [[ 9.75911121e-01 2.17711336e-01 1.41159173e-02 2.81233967e+02] [-2.17684986e-01 9.76013174e-01 -3.39563997e-03 -6.09144596e+01] [-1.45165905e-02 2.41019546e-04 9.99894600e-01 -5.75672936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11862385300003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.26, Y:-60.92, Z:-5.76 [[ 9.76797748e-01 2.13719359e-01 1.37911391e-02 2.81261399e+02] [-2.13693826e-01 9.76895056e-01 -3.31641940e-03 -6.09226909e+01] [-1.41812786e-02 2.92389721e-04 9.99899398e-01 -5.75751807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.148623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.29, Y:-60.93, Z:-5.76 [[ 9.76805158e-01 2.13685478e-01 1.37913070e-02 2.81289932e+02] [-2.13659951e-01 9.76902468e-01 -3.31572109e-03 -6.09294652e+01] [-1.41812833e-02 2.92163490e-04 9.99899398e-01 -5.75808395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17862385300003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:281.32, Y:-60.94, Z:-5.76 [[ 9.77203266e-01 2.11864900e-01 1.36763220e-02 2.81316410e+02] [-2.11839625e-01 9.77298913e-01 -3.28770313e-03 -6.09370268e+01] [-1.40624035e-02 3.15567304e-04 9.99901070e-01 -5.75845091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.208623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:281.34, Y:-60.94, Z:-5.76 [[ 9.77609144e-01 2.09972342e-01 1.38555569e-02 2.81343784e+02] [-2.09946222e-01 9.77707265e-01 -3.32986915e-03 -6.09449445e+01] [-1.42458591e-02 3.46388705e-04 9.99898463e-01 -5.75903783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.37, Y:-60.95, Z:-5.76 [[ 9.78167686e-01 2.07337693e-01 1.41088371e-02 2.81370469e+02] [-2.07310345e-01 9.78269354e-01 -3.39010029e-03 -6.09538345e+01] [-1.45051385e-02 3.91178678e-04 9.99894718e-01 -5.75882645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.268623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:281.40, Y:-60.96, Z:-5.76 [[ 9.78375808e-01 2.06329424e-01 1.44549909e-02 2.81397870e+02] [-2.06300622e-01 9.78482497e-01 -3.47233131e-03 -6.09618535e+01] [-1.48603997e-02 4.15171339e-04 9.99889492e-01 -5.75942606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29862385300004 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:281.43, Y:-60.97, Z:-5.76 [[ 9.78600831e-01 2.05211132e-01 1.51262960e-02 2.81425319e+02] [-2.05179470e-01 9.78717624e-01 -3.63283229e-03 -6.09721895e+01] [-1.55498701e-02 4.51487290e-04 9.99878992e-01 -5.75931475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.328623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.45, Y:-60.98, Z:-5.76 [[ 9.78670207e-01 2.04864578e-01 1.53339416e-02 2.81451535e+02] [-2.04832010e-01 9.78790218e-01 -3.68201007e-03 -6.09801441e+01] [-1.57630255e-02 4.62591485e-04 9.99875649e-01 -5.75995541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.48, Y:-60.99, Z:-5.76 [[ 9.78701282e-01 2.04720044e-01 1.52808574e-02 2.81480370e+02] [-2.04687699e-01 9.78820458e-01 -3.66826076e-03 -6.09886204e+01] [-1.57081823e-02 4.62327961e-04 9.99876512e-01 -5.76019213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.388623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:281.51, Y:-61.00, Z:-5.76 [[ 9.78676495e-01 2.04840824e-01 1.52497509e-02 2.81509269e+02] [-2.04808633e-01 9.78795191e-01 -3.66031495e-03 -6.09971664e+01] [-1.56761648e-02 4.58983574e-04 9.99877016e-01 -5.76104821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41862385300004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:281.54, Y:-61.01, Z:-5.76 [[ 9.78491756e-01 2.05749714e-01 1.48639891e-02 2.81537467e+02] [-2.05719235e-01 9.78604551e-01 -3.56777399e-03 -6.10075546e+01] [-1.52800359e-02 4.33228963e-04 9.99883160e-01 -5.76169434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.448623853 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:281.57, Y:-61.02, Z:-5.76 [[ 9.78327035e-01 2.06578223e-01 1.42003862e-02 2.81565616e+02] [-2.06550494e-01 9.78430006e-01 -3.40836605e-03 -6.10166867e+01] [-1.45981781e-02 4.01399870e-04 9.99893360e-01 -5.75606655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.59, Y:-61.02, Z:-5.76 [[ 9.78129879e-01 2.07524483e-01 1.39831494e-02 2.81593947e+02] [-2.07497697e-01 9.78229750e-01 -3.35589554e-03 -6.10243858e+01] [-1.43751632e-02 3.81030402e-04 9.99896599e-01 -5.76319185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.508623853 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:281.62, Y:-61.04, Z:-5.76 [[ 9.77500267e-01 2.10474121e-01 1.39238004e-02 2.81620603e+02] [-2.10447865e-01 9.77599372e-01 -3.34135859e-03 -6.10350612e+01] [-1.43151680e-02 3.35944852e-04 9.99897476e-01 -5.75642054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53862385300005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:281.65, Y:-61.04, Z:-5.76 [[ 9.77038514e-01 2.12567886e-01 1.45132924e-02 2.81649079e+02] [-2.12539600e-01 9.77146250e-01 -3.48218234e-03 -6.10427864e+01] [-1.49218094e-02 3.17576888e-04 9.99888613e-01 -5.76374623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.568623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.68, Y:-61.05, Z:-5.76 [[ 9.76565121e-01 2.14714403e-01 1.47746483e-02 2.81677154e+02] [-2.14685339e-01 9.76676836e-01 -3.54455303e-03 -6.10504653e+01] [-1.51911233e-02 2.89586474e-04 9.99884566e-01 -5.76381376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59862385300005 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:281.71, Y:-61.06, Z:-5.76 [[ 9.76074730e-01 2.16960997e-01 1.43543686e-02 2.81705887e+02] [-2.16933815e-01 9.76180242e-01 -3.44313895e-03 -6.10588736e+01] [-1.47594779e-02 2.46812975e-04 9.99891043e-01 -5.75733289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.628623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:281.73, Y:-61.07, Z:-5.77 [[ 9.75012901e-01 2.21643385e-01 1.49684265e-02 2.81733210e+02] [-2.21614382e-01 9.75127774e-01 -3.59012959e-03 -6.10663620e+01] [-1.53918569e-02 1.83204082e-04 9.99881522e-01 -5.76563374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.658623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:281.76, Y:-61.07, Z:-5.77 [[ 9.74510338e-01 2.23809419e-01 1.54578219e-02 2.81760713e+02] [-2.23778774e-01 9.74632916e-01 -3.70670761e-03 -6.10736338e+01] [-1.58952981e-02 1.53092460e-04 9.99873650e-01 -5.76622528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.688623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.79, Y:-61.08, Z:-5.77 [[ 9.74003697e-01 2.25982449e-01 1.57712158e-02 2.81787871e+02] [-2.25950847e-01 9.74131366e-01 -3.78107465e-03 -6.10810775e+01] [-1.62176925e-02 1.19261134e-04 9.99868477e-01 -5.76689650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.718623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:281.82, Y:-61.09, Z:-5.77 [[ 9.73562106e-01 2.27852596e-01 1.61251369e-02 2.81815508e+02] [-2.27819833e-01 9.73695633e-01 -3.86484728e-03 -6.10887577e+01] [-1.65815909e-02 8.90428492e-05 9.99862512e-01 -5.76767711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.748623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:281.84, Y:-61.10, Z:-5.77 [[ 9.72868268e-01 2.30805103e-01 1.60105710e-02 2.81841998e+02] [-2.30773216e-01 9.73000002e-01 -3.83662792e-03 -6.10963415e+01] [-1.64637989e-02 3.77226058e-05 9.99864462e-01 -5.76793145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.778623853 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:281.87, Y:-61.10, Z:-5.77 [[ 9.72566105e-01 2.32086569e-01 1.58428730e-02 2.81869602e+02] [-2.32055535e-01 9.72695134e-01 -3.79535426e-03 -6.11036427e+01] [-1.62911362e-02 1.48065467e-05 9.99867291e-01 -5.76872759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80862385300003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:281.90, Y:-61.11, Z:-5.77 [[ 9.72001950e-01 2.34444819e-01 1.57427942e-02 2.81896950e+02] [-2.34414497e-01 9.72129429e-01 -3.77059665e-03 -6.11124139e+01] [-1.61880304e-02 -2.53118913e-05 9.99868965e-01 -5.76957736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.838623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:281.92, Y:-61.12, Z:-5.77 [[ 9.71743727e-01 2.35522081e-01 1.56037958e-02 2.81924830e+02] [-2.35492444e-01 9.71868997e-01 -3.73647179e-03 -6.11197950e+01] [-1.60448670e-02 -4.36829949e-05 9.99871272e-01 -5.76999431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:281.95, Y:-61.13, Z:-5.77 [[ 9.71059821e-01 2.38317651e-01 1.57327979e-02 2.81951342e+02] [-2.38287898e-01 9.71187257e-01 -3.76683119e-03 -6.11264772e+01] [-1.61771952e-02 -9.11169290e-05 9.99869136e-01 -5.77038769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.898623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:281.98, Y:-61.13, Z:-5.77 [[ 9.70683296e-01 2.39840207e-01 1.58307996e-02 2.81979443e+02] [-2.39810301e-01 9.70812372e-01 -3.78926105e-03 -6.11332859e+01] [-1.62775532e-02 -1.18216410e-04 9.99867505e-01 -5.77110252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.01, Y:-61.14, Z:-5.77 [[ 9.70365281e-01 2.41136217e-01 1.56379705e-02 2.82006808e+02] [-2.41107215e-01 9.70491270e-01 -3.74238635e-03 -6.11389305e+01] [-1.60789387e-02 -1.38945733e-04 9.99870716e-01 -5.77161244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.958623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:282.04, Y:-61.15, Z:-5.77 [[ 9.69987515e-01 2.42644000e-01 1.57515188e-02 2.82035326e+02] [-2.42614790e-01 9.70115386e-01 -3.76855092e-03 -6.11450026e+01] [-1.61952070e-02 -1.66104090e-04 9.99868835e-01 -5.77243836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.06, Y:-61.15, Z:-5.77 [[ 9.69359383e-01 2.45127902e-01 1.59592688e-02 2.82062933e+02] [-2.45098265e-01 9.69490726e-01 -3.81753533e-03 -6.11501342e+01] [-1.64081475e-02 -2.11025400e-04 9.99865355e-01 -5.77373567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.018623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:282.09, Y:-61.16, Z:-5.77 [[ 9.69149658e-01 2.45949731e-01 1.60520818e-02 2.82091017e+02] [-2.45919881e-01 9.69282558e-01 -3.83850468e-03 -6.11560916e+01] [-1.65030821e-02 -2.27440550e-04 9.99863789e-01 -5.77440168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.12, Y:-61.16, Z:-5.77 [[ 9.68977576e-01 2.46634302e-01 1.59366974e-02 2.82118669e+02] [-2.46604984e-01 9.69108593e-01 -3.81016222e-03 -6.11615158e+01] [-1.63841071e-02 -2.38107266e-04 9.99865743e-01 -5.77486376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.078623853 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:282.15, Y:-61.16, Z:-5.78 [[ 9.68695525e-01 2.47743209e-01 1.58834209e-02 2.82146678e+02] [-2.47714251e-01 9.68825700e-01 -3.79647340e-03 -6.11649584e+01] [-1.63288168e-02 -2.56922923e-04 9.99866643e-01 -5.77601040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.18, Y:-61.17, Z:-5.78 [[ 9.68638151e-01 2.47973914e-01 1.57819482e-02 2.82175063e+02] [-2.47945375e-01 9.68766675e-01 -3.77104542e-03 -6.11702143e+01] [-1.62241463e-02 -2.60282598e-04 9.99868346e-01 -5.77693124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.138623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.20, Y:-61.18, Z:-5.78 [[ 9.68609845e-01 2.48081930e-01 1.58216594e-02 2.82203797e+02] [-2.48053275e-01 9.68739019e-01 -3.77972382e-03 -6.11751983e+01] [-1.62647400e-02 -2.63536737e-04 9.99867686e-01 -5.77771162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.23, Y:-61.18, Z:-5.78 [[ 9.68614386e-01 2.48107237e-01 1.51317488e-02 2.82231622e+02] [-2.48081040e-01 9.68732540e-01 -3.61422831e-03 -6.11782998e+01] [-1.55553337e-02 -2.53106445e-04 9.99878976e-01 -5.77839692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.198623853 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:282.26, Y:-61.18, Z:-5.78 [[ 9.68660596e-01 2.47934473e-01 1.50048680e-02 2.82259674e+02] [-2.47908709e-01 9.68776772e-01 -3.58289945e-03 -6.11830451e+01] [-1.54246919e-02 -2.49223944e-04 9.99881001e-01 -5.77965830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22862385300004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:282.29, Y:-61.19, Z:-5.78 [[ 9.68886831e-01 2.47020141e-01 1.54712360e-02 2.82288097e+02] [-2.46992652e-01 9.69010315e-01 -3.69310613e-03 -6.11855676e+01] [-1.59040589e-02 -2.43079724e-04 9.99873493e-01 -5.78038877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.258623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:282.32, Y:-61.19, Z:-5.78 [[ 9.69124399e-01 2.46071584e-01 1.57058947e-02 2.82316849e+02] [-2.46043149e-01 9.69251630e-01 -3.74791339e-03 -6.11901146e+01] [-1.61452190e-02 -2.32133490e-04 9.99869631e-01 -5.78079172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:282.34, Y:-61.19, Z:-5.78 [[ 9.69367828e-01 2.45099468e-01 1.58828711e-02 2.82344541e+02] [-2.45070271e-01 9.69497913e-01 -3.78935492e-03 -6.11949141e+01] [-1.63271793e-02 -2.19140786e-04 9.99866679e-01 -5.78123124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.318623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.37, Y:-61.20, Z:-5.78 [[ 9.70072231e-01 2.42269156e-01 1.62948566e-02 2.82372364e+02] [-2.42238045e-01 9.70209062e-01 -3.88647921e-03 -6.11978471e+01] [-1.67509916e-02 -1.77068655e-04 9.99859677e-01 -5.78206194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.40, Y:-61.20, Z:-5.78 [[ 9.70434194e-01 2.40806758e-01 1.64188753e-02 2.82399410e+02] [-2.40774984e-01 9.70573069e-01 -3.91478137e-03 -6.12023494e+01] [-1.68784240e-02 -1.54216750e-04 9.99857537e-01 -5.78254174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.378623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:282.43, Y:-61.21, Z:-5.78 [[ 9.70869439e-01 2.39060305e-01 1.62080920e-02 2.82426298e+02] [-2.39029113e-01 9.71004714e-01 -3.86363784e-03 -6.12063247e+01] [-1.66617762e-02 -1.23117949e-04 9.99861175e-01 -5.78313930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.408623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.45, Y:-61.21, Z:-5.78 [[ 9.71264267e-01 2.37463068e-01 1.60316781e-02 2.82453792e+02] [-2.37432363e-01 9.71396563e-01 -3.81981466e-03 -6.12104099e+01] [-1.64801819e-02 -9.63897207e-05 9.99864188e-01 -5.78446076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.438623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:282.48, Y:-61.21, Z:-5.79 [[ 9.72066304e-01 2.34175963e-01 1.57708427e-02 2.82480676e+02] [-2.34145833e-01 9.72194228e-01 -3.75659178e-03 -6.12119997e+01] [-1.62120258e-02 -4.10208351e-05 9.99868576e-01 -5.78632683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.468623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:282.51, Y:-61.22, Z:-5.79 [[ 9.72451750e-01 2.32599206e-01 1.53363186e-02 2.82508493e+02] [-2.32570546e-01 9.72572675e-01 -3.65136286e-03 -6.12162857e+01] [-1.57649885e-02 -1.60017878e-05 9.99875725e-01 -5.78679392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.498623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.54, Y:-61.22, Z:-5.79 [[ 9.73148384e-01 2.29698087e-01 1.48664307e-02 2.82536311e+02] [-2.29670834e-01 9.73261932e-01 -3.53835228e-03 -6.12193208e+01] [-1.52816838e-02 2.89562659e-05 9.99883228e-01 -5.78765691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.528623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.56, Y:-61.22, Z:-5.79 [[ 9.73528728e-01 2.28088661e-01 1.47437631e-02 2.82563816e+02] [-2.28061685e-01 9.73640365e-01 -3.50828727e-03 -6.12234752e+01] [-1.51553234e-02 5.29309991e-05 9.99885150e-01 -5.78832553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:282.59, Y:-61.23, Z:-5.79 [[ 9.73896798e-01 2.26512601e-01 1.47332732e-02 2.82591962e+02] [-2.26485499e-01 9.74008232e-01 -3.50470064e-03 -6.12275644e+01] [-1.51441883e-02 7.63439865e-05 9.99885317e-01 -5.78874381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.588623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:282.62, Y:-61.23, Z:-5.79 [[ 9.74632602e-01 2.23368479e-01 1.40646041e-02 2.82619374e+02] [-2.23343468e-01 9.74734071e-01 -3.34465499e-03 -6.12298712e+01] [-1.44563393e-02 1.18572342e-04 9.99895495e-01 -5.78933973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:282.65, Y:-61.23, Z:-5.79 [[ 9.75016560e-01 2.21675951e-01 1.42296007e-02 2.82646817e+02] [-2.21650189e-01 9.75120378e-01 -3.38251630e-03 -6.12344679e+01] [-1.46253962e-02 1.44015705e-04 9.99893033e-01 -5.79056590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.67, Y:-61.24, Z:-5.79 [[ 9.75373592e-01 2.20093857e-01 1.43195411e-02 2.82674521e+02] [-2.20067615e-01 9.75478686e-01 -3.40276548e-03 -6.12394451e+01] [-1.47173349e-02 1.67700320e-04 9.99891680e-01 -5.79099118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67862385300003 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:282.70, Y:-61.24, Z:-5.79 [[ 9.76118904e-01 2.16735108e-01 1.47573218e-02 2.82702008e+02] [-2.16706869e-01 9.76230425e-01 -3.50573325e-03 -6.12426603e+01] [-1.51663621e-02 2.23999479e-04 9.99884959e-01 -5.79151527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.708623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:282.73, Y:-61.25, Z:-5.79 [[ 9.76437667e-01 2.15286814e-01 1.48684255e-02 2.82729503e+02] [-2.15258009e-01 9.76550832e-01 -3.53025458e-03 -6.12473959e+01] [-1.52797905e-02 2.46525883e-04 9.99883227e-01 -5.79154281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.76, Y:-61.25, Z:-5.79 [[ 9.76801640e-01 2.13605561e-01 1.52059291e-02 2.82756996e+02] [-2.13575244e-01 9.76919949e-01 -3.60947652e-03 -6.12517877e+01] [-1.56259797e-02 2.78132576e-04 9.99877868e-01 -5.79199140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.768623853 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:282.78, Y:-61.26, Z:-5.79 [[ 9.77123555e-01 2.12118883e-01 1.53341930e-02 2.82783788e+02] [-2.12087887e-01 9.77243822e-01 -3.63877997e-03 -6.12563875e+01] [-1.57570993e-02 3.03341025e-04 9.99875803e-01 -5.79228192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:282.81, Y:-61.26, Z:-5.79 [[ 9.77728194e-01 2.09289568e-01 1.56670148e-02 2.82811417e+02] [-2.09256872e-01 9.77853645e-01 -3.71629686e-03 -6.12607257e+01] [-1.60978297e-02 3.55097697e-04 9.99870358e-01 -5.79320733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.828623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.84, Y:-61.27, Z:-5.79 [[ 9.78025377e-01 2.07914248e-01 1.54281359e-02 2.82838322e+02] [-2.07882388e-01 9.78146987e-01 -3.65851484e-03 -6.12660784e+01] [-1.58516420e-02 3.70882620e-04 9.99874286e-01 -5.79390880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85862385300004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:282.86, Y:-61.27, Z:-5.79 [[ 9.78278461e-01 2.06738689e-01 1.51778333e-02 2.82864576e+02] [-2.06707734e-01 9.78396120e-01 -3.59783370e-03 -6.12716466e+01] [-1.55937446e-02 3.82307699e-04 9.99878337e-01 -5.79423092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.888623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:282.89, Y:-61.28, Z:-5.79 [[ 9.78768922e-01 2.04389797e-01 1.53690626e-02 2.82891756e+02] [-2.04357790e-01 9.78889489e-01 -3.64174679e-03 -6.12769915e+01] [-1.57889497e-02 4.23640917e-04 9.99875257e-01 -5.79497632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.92, Y:-61.28, Z:-5.80 [[ 9.78997169e-01 2.03298076e-01 1.53112757e-02 2.82919552e+02] [-2.03266195e-01 9.79116796e-01 -3.62684003e-03 -6.12829351e+01] [-1.57288569e-02 4.38401363e-04 9.99876198e-01 -5.79585608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.948623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:282.95, Y:-61.29, Z:-5.80 [[ 9.79204146e-01 2.02323164e-01 1.49859314e-02 2.82948085e+02] [-2.02292520e-01 9.79318712e-01 -3.54904683e-03 -6.12896030e+01] [-1.53940574e-02 4.43699539e-04 9.99881406e-01 -5.79630329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:282.98, Y:-61.30, Z:-5.80 [[ 9.79470553e-01 2.01111432e-01 1.38429712e-02 2.82975332e+02] [-2.01085172e-01 9.79568277e-01 -3.27778821e-03 -6.12965090e+01] [-1.42193361e-02 4.26880783e-04 9.99898809e-01 -5.79793031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.008623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.00, Y:-61.30, Z:-5.80 [[ 9.79568500e-01 2.00652885e-01 1.35636873e-02 2.83003085e+02] [-2.00627643e-01 9.79662309e-01 -3.21075346e-03 -6.13036251e+01] [-1.39320801e-02 4.23902345e-04 9.99902854e-01 -5.79827530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03862385300005 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:283.03, Y:-61.31, Z:-5.79 [[ 9.79730730e-01 1.99888558e-01 1.31248172e-02 2.83030768e+02] [-1.99864862e-01 9.79818549e-01 -3.10623671e-03 -6.13110911e+01] [-1.34808405e-02 4.20085769e-04 9.99909041e-01 -5.79031934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.068623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.06, Y:-61.32, Z:-5.80 [[ 9.79704540e-01 1.99958628e-01 1.39843023e-02 2.83057211e+02] [-1.99931746e-01 9.79804240e-01 -3.30892142e-03 -6.13184299e+01] [-1.43635261e-02 4.45859358e-04 9.99896740e-01 -5.79877480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.09, Y:-61.33, Z:-5.80 [[ 9.79711791e-01 1.99923082e-01 1.39845298e-02 2.83085768e+02] [-1.99896210e-01 9.79811494e-01 -3.30795974e-03 -6.13251028e+01] [-1.43635405e-02 4.45392656e-04 9.99896740e-01 -5.79934068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.128623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.11, Y:-61.33, Z:-5.80 [[ 9.79664732e-01 2.00120364e-01 1.44517563e-02 2.83112810e+02] [-2.00091694e-01 9.79771214e-01 -3.41801094e-03 -6.13325787e+01] [-1.48434284e-02 4.56828375e-04 9.99889726e-01 -5.79959531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.158623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.14, Y:-61.34, Z:-5.80 [[ 9.79583228e-01 2.00498472e-01 1.47330557e-02 2.83140142e+02] [-2.00468733e-01 9.79693907e-01 -3.48352699e-03 -6.13401598e+01] [-1.51323267e-02 4.58887601e-04 9.99885394e-01 -5.79989046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.188623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:283.17, Y:-61.35, Z:-5.80 [[ 9.79257549e-01 2.02081969e-01 1.47489119e-02 2.83166657e+02] [-2.02052356e-01 9.79368515e-01 -3.48659064e-03 -6.13479981e+01] [-1.51491970e-02 4.34217811e-04 9.99885150e-01 -5.80002912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.218623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.19, Y:-61.36, Z:-5.80 [[ 9.79049536e-01 2.03078320e-01 1.48728526e-02 2.83193617e+02] [-2.03048335e-01 9.79162406e-01 -3.51500510e-03 -6.13556075e+01] [-1.52767594e-02 4.21456157e-04 9.99883215e-01 -5.80061816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.248623853 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:283.22, Y:-61.36, Z:-5.80 [[ 9.78884501e-01 2.03875975e-01 1.48229783e-02 2.83220212e+02] [-2.03846299e-01 9.78996640e-01 -3.50214010e-03 -6.13632866e+01] [-1.52256482e-02 4.06581396e-04 9.99884000e-01 -5.79625315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.278623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.25, Y:-61.37, Z:-5.80 [[ 9.78574687e-01 2.05355636e-01 1.48541521e-02 2.83246597e+02] [-2.05326021e-01 9.78687343e-01 -3.50845680e-03 -6.13705907e+01] [-1.52580520e-02 3.83343077e-04 9.99883516e-01 -5.80145393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30862385300003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:283.27, Y:-61.38, Z:-5.80 [[ 9.77909463e-01 2.08533287e-01 1.43857398e-02 2.83273424e+02] [-2.08505872e-01 9.78015217e-01 -3.39659799e-03 -6.13788521e+01] [-1.47777762e-02 3.22054088e-04 9.99890751e-01 -5.80175169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.338623853 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:283.30, Y:-61.39, Z:-5.80 [[ 9.77515305e-01 2.10365134e-01 1.45030581e-02 2.83299608e+02] [-2.10337487e-01 9.77622843e-01 -3.42327539e-03 -6.13861661e+01] [-1.48986587e-02 2.95767297e-04 9.99888965e-01 -5.80242019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.33, Y:-61.39, Z:-5.80 [[ 9.76561213e-01 2.14735913e-01 1.47202043e-02 2.83326828e+02] [-2.14707948e-01 9.76672122e-01 -3.47320471e-03 -6.13941826e+01] [-1.51226350e-02 2.31252149e-04 9.99885620e-01 -5.80197807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.398623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.35, Y:-61.40, Z:-5.80 [[ 9.76034546e-01 2.17119502e-01 1.46862469e-02 2.83354110e+02] [-2.17091951e-01 9.76145012e-01 -3.46415301e-03 -6.14006422e+01] [-1.50880418e-02 1.92867030e-04 9.99886150e-01 -5.80205111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42862385300003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:283.38, Y:-61.41, Z:-5.79 [[ 9.75497108e-01 2.19527881e-01 1.45911222e-02 2.83381006e+02] [-2.19500971e-01 9.75606214e-01 -3.44066142e-03 -6.14068484e+01] [-1.49905106e-02 1.53589771e-04 9.99887624e-01 -5.79394469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.458623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.41, Y:-61.41, Z:-5.80 [[ 9.74334956e-01 2.24585419e-01 1.52572508e-02 2.83408496e+02] [-2.24556638e-01 9.74454403e-01 -3.59626201e-03 -6.14135701e+01] [-1.56751632e-02 7.78468626e-05 9.99877134e-01 -5.80366478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.44, Y:-61.42, Z:-5.80 [[ 9.73872755e-01 2.26584431e-01 1.52102685e-02 2.83435708e+02] [-2.26556088e-01 9.73991526e-01 -3.58406836e-03 -6.14198375e+01] [-1.56267667e-02 4.44475967e-05 9.99877894e-01 -5.80438797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.46, Y:-61.43, Z:-5.80 [[ 9.73445910e-01 2.28431376e-01 1.49052373e-02 2.83461996e+02] [-2.28404391e-01 9.73560017e-01 -3.51114215e-03 -6.14256120e+01] [-1.53131981e-02 1.34853151e-05 9.99882746e-01 -5.80493034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54862385300004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:283.49, Y:-61.43, Z:-5.81 [[ 9.72765809e-01 2.31348354e-01 1.43045293e-02 2.83489440e+02] [-2.31323833e-01 9.72870977e-01 -3.36839369e-03 -6.14311486e+01] [-1.46957337e-02 -3.23203382e-05 9.99892011e-01 -5.80625490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.578623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:283.52, Y:-61.44, Z:-5.80 [[ 9.72649517e-01 2.31898886e-01 1.32598699e-02 2.83517102e+02] [-2.31877880e-01 9.72739896e-01 -3.12150299e-03 -6.14366992e+01] [-1.36222775e-02 -3.85421408e-05 9.99907212e-01 -5.79870319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:283.54, Y:-61.44, Z:-5.81 [[ 9.72455416e-01 2.32693869e-01 1.35656432e-02 2.83543144e+02] [-2.32671974e-01 9.72550030e-01 -3.19248059e-03 -6.14424462e+01] [-1.39361373e-02 -5.17999424e-05 9.99902886e-01 -5.80715510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.57, Y:-61.45, Z:-5.81 [[ 9.72258510e-01 2.33489745e-01 1.39974804e-02 2.83570415e+02] [-2.33466535e-01 9.72359262e-01 -3.29275053e-03 -6.14476819e+01] [-1.43794032e-02 -6.65385303e-05 9.99896609e-01 -5.80797229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.60, Y:-61.45, Z:-5.81 [[ 9.72190513e-01 2.33790914e-01 1.36899316e-02 2.83597229e+02] [-2.33768756e-01 9.72286894e-01 -3.21947851e-03 -6.14535708e+01] [-1.40632259e-02 -7.03318152e-05 9.99901105e-01 -5.80825828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.698623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.62, Y:-61.46, Z:-5.81 [[ 9.72138044e-01 2.34016080e-01 1.35682369e-02 2.83624130e+02] [-2.33994353e-01 9.72232724e-01 -3.18964331e-03 -6.14593046e+01] [-1.39379118e-02 -7.41172208e-05 9.99902860e-01 -5.80840418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.65, Y:-61.46, Z:-5.81 [[ 9.72036554e-01 2.34427694e-01 1.37329318e-02 2.83650870e+02] [-2.34405492e-01 9.72133555e-01 -3.22737293e-03 -6.14633065e+01] [-1.41068294e-02 -8.19501641e-05 9.99900490e-01 -5.80905383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.758623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.68, Y:-61.47, Z:-5.81 [[ 9.71994292e-01 2.34582391e-01 1.40782697e-02 2.83677848e+02] [-2.34559090e-01 9.72096237e-01 -3.30747219e-03 -6.14683120e+01] [-1.44613077e-02 -8.73420282e-05 9.99895426e-01 -5.80958179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78862385300005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.70, Y:-61.47, Z:-5.81 [[ 9.71967655e-01 2.34676758e-01 1.43421290e-02 2.83704418e+02] [-2.34652617e-01 9.72073459e-01 -3.36733487e-03 -6.14729270e+01] [-1.47318382e-02 -9.24775297e-05 9.99891476e-01 -5.81011188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.818623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.73, Y:-61.48, Z:-5.81 [[ 9.72028963e-01 2.34401089e-01 1.46909605e-02 2.83731022e+02] [-2.34375744e-01 9.72139970e-01 -3.44811812e-03 -6.14780170e+01] [-1.50899125e-02 -9.15341010e-05 9.99886137e-01 -5.81037050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.76, Y:-61.48, Z:-5.81 [[ 9.72117556e-01 2.34036111e-01 1.46477359e-02 2.83757748e+02] [-2.34010905e-01 9.72227901e-01 -3.43589773e-03 -6.14826203e+01] [-1.50450616e-02 -8.76334237e-05 9.99886813e-01 -5.81072574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.878623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:283.79, Y:-61.49, Z:-5.81 [[ 9.72268596e-01 2.33393371e-01 1.48765585e-02 2.83785918e+02] [-2.33367316e-01 9.72382398e-01 -3.48826793e-03 -6.14872317e+01] [-1.52798422e-02 -8.01691488e-05 9.99883253e-01 -5.81160911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.908623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:283.81, Y:-61.49, Z:-5.81 [[ 9.72579329e-01 2.32074974e-01 1.51873492e-02 2.83813212e+02] [-2.32047672e-01 9.72697899e-01 -3.56020812e-03 -6.14905821e+01] [-1.55989378e-02 -6.16042049e-05 9.99878327e-01 -5.81197514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.938623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.84, Y:-61.50, Z:-5.81 [[ 9.72751535e-01 2.31352172e-01 1.51863141e-02 2.83840649e+02] [-2.31324819e-01 9.72870068e-01 -3.55780588e-03 -6.14957119e+01] [-1.55974165e-02 -5.21102299e-05 9.99878352e-01 -5.81253620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.968623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:283.87, Y:-61.50, Z:-5.81 [[ 9.72940641e-01 2.30545229e-01 1.53429728e-02 2.83868303e+02] [-2.30517226e-01 9.73061610e-01 -3.59339462e-03 -6.15007536e+01] [-1.57580978e-02 -4.06598797e-05 9.99875833e-01 -5.81328122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.90, Y:-61.51, Z:-5.81 [[ 9.73120737e-01 2.29784154e-01 1.53386339e-02 2.83895430e+02] [-2.29756091e-01 9.73241615e-01 -3.59128185e-03 -6.15056300e+01] [-1.57534165e-02 -2.93937221e-05 9.99875907e-01 -5.81385946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.028623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:283.92, Y:-61.51, Z:-5.81 [[ 9.73494647e-01 2.28242795e-01 1.46081700e-02 2.83923055e+02] [-2.28217181e-01 9.73604245e-01 -3.41928180e-03 -6.15092656e+01] [-1.50030027e-02 -5.18284777e-06 9.99887449e-01 -5.81491938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:283.95, Y:-61.51, Z:-5.82 [[ 9.73697173e-01 2.27407786e-01 1.41249318e-02 2.83950923e+02] [-2.27383765e-01 9.73799619e-01 -3.30522454e-03 -6.15140671e+01] [-1.45064870e-02 6.50760565e-06 9.99894775e-01 -5.81536753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.088623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:283.98, Y:-61.52, Z:-5.82 [[ 9.74101979e-01 2.25723791e-01 1.31948490e-02 2.83978165e+02] [-2.25702686e-01 9.74191341e-01 -3.08678139e-03 -6.15170057e+01] [-1.35510676e-02 2.87270140e-05 9.99908180e-01 -5.81649560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.01, Y:-61.52, Z:-5.82 [[ 9.74379108e-01 2.24529479e-01 1.31097907e-02 2.84006050e+02] [-2.24508553e-01 9.74467296e-01 -3.06571552e-03 -6.15218028e+01] [-1.34634058e-02 4.39090149e-05 9.99909363e-01 -5.81754893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.148623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.03, Y:-61.53, Z:-5.82 [[ 9.74656117e-01 2.23324049e-01 1.31081073e-02 2.84033352e+02] [-2.23303032e-01 9.74744257e-01 -3.06437377e-03 -6.15268779e+01] [-1.34614007e-02 5.96305397e-05 9.99909389e-01 -5.81786206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.06, Y:-61.53, Z:-5.82 [[ 9.75256370e-01 2.20680129e-01 1.32398532e-02 2.84061318e+02] [-2.20658456e-01 9.75346232e-01 -3.09424087e-03 -6.15307727e+01] [-1.35962784e-02 9.61925626e-05 9.99907562e-01 -5.81800987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.208623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.09, Y:-61.54, Z:-5.82 [[ 9.75572810e-01 2.19259577e-01 1.35251917e-02 2.84088933e+02] [-2.19236838e-01 9.75666554e-01 -3.15985635e-03 -6.15352911e+01] [-1.38889059e-02 1.17449671e-04 9.99903538e-01 -5.81842430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.12, Y:-61.54, Z:-5.82 [[ 9.76068778e-01 2.16990814e-01 1.43082598e-02 2.84115496e+02] [-2.16965136e-01 9.76173633e-01 -3.34183309e-03 -6.15386752e+01] [-1.46924930e-02 1.57465417e-04 9.99892047e-01 -5.81819382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.268623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.14, Y:-61.54, Z:-5.82 [[ 9.76304313e-01 2.15913071e-01 1.45408107e-02 2.84142260e+02] [-2.15886463e-01 9.76412574e-01 -3.39405679e-03 -6.15438092e+01] [-1.49306516e-02 1.74468092e-04 9.99888516e-01 -5.81853761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:284.17, Y:-61.55, Z:-5.82 [[ 9.76562406e-01 2.14720844e-01 1.48602181e-02 2.84169912e+02] [-2.14692937e-01 9.76675443e-01 -3.46721820e-03 -6.15492546e+01] [-1.52580941e-02 1.95571084e-04 9.99883569e-01 -5.81914810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.328623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.20, Y:-61.55, Z:-5.82 [[ 9.76822905e-01 2.13535224e-01 1.48229948e-02 2.84197636e+02] [-2.13507338e-01 9.76935342e-01 -3.45741797e-03 -6.15546034e+01] [-1.52193881e-02 2.12466895e-04 9.99884156e-01 -5.81948087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.23, Y:-61.56, Z:-5.82 [[ 9.77058469e-01 2.12419444e-01 1.53208626e-02 2.84225484e+02] [-2.12389535e-01 9.77178553e-01 -3.57233995e-03 -6.15604036e+01] [-1.57300528e-02 2.36394120e-04 9.99876247e-01 -5.81998630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.388623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:284.25, Y:-61.57, Z:-5.82 [[ 9.77535436e-01 2.10244315e-01 1.48929650e-02 2.84251997e+02] [-2.10215816e-01 9.77648842e-01 -3.47153412e-03 -6.15662985e+01] [-1.52899603e-02 2.62810821e-04 9.99883067e-01 -5.82043063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.28, Y:-61.57, Z:-5.82 [[ 9.77838830e-01 2.08857165e-01 1.44881423e-02 2.84278070e+02] [-2.08830061e-01 9.77946117e-01 -3.37593843e-03 -6.15725316e+01] [-1.48737114e-02 2.75564048e-04 9.99889342e-01 -5.82135910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.448623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.30, Y:-61.58, Z:-5.82 [[ 9.78142016e-01 2.07449720e-01 1.42411720e-02 2.84304404e+02] [-2.07423401e-01 9.78245638e-01 -3.31719636e-03 -6.15787748e+01] [-1.46195159e-02 2.90736803e-04 9.99893087e-01 -5.82170652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:284.33, Y:-61.59, Z:-5.82 [[ 9.78868381e-01 2.04037844e-01 1.36107089e-02 2.84332106e+02] [-2.04013489e-01 9.78962947e-01 -3.16920098e-03 -6.15851877e+01] [-1.39710166e-02 3.25462416e-04 9.99902348e-01 -5.81589449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.508623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:284.36, Y:-61.59, Z:-5.82 [[ 9.79144915e-01 2.02684241e-01 1.39403488e-02 2.84357792e+02] [-2.02658567e-01 9.79244083e-01 -3.24512940e-03 -6.15925162e+01] [-1.43087407e-02 3.52320841e-04 9.99897563e-01 -5.82303729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53862385300005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:284.38, Y:-61.60, Z:-5.82 [[ 9.79748978e-01 1.99740377e-01 1.39900272e-02 2.84384024e+02] [-1.99714247e-01 9.79848777e-01 -3.25483603e-03 -6.16014111e+01] [-1.43582332e-02 3.94914535e-04 9.99896837e-01 -5.82384576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.568623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.41, Y:-61.61, Z:-5.82 [[ 9.80011196e-01 1.98452523e-01 1.39517540e-02 2.84410400e+02] [-1.98426419e-01 9.80110415e-01 -3.24494426e-03 -6.16090717e+01] [-1.43182268e-02 4.11685126e-04 9.99897404e-01 -5.82391924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.44, Y:-61.62, Z:-5.82 [[ 9.80223965e-01 1.97407085e-01 1.38355308e-02 2.84437592e+02] [-1.97381328e-01 9.80321511e-01 -3.21664178e-03 -6.16166667e+01] [-1.41982564e-02 4.22153908e-04 9.99899111e-01 -5.82424790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.628623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:284.47, Y:-61.63, Z:-5.82 [[ 9.80446506e-01 1.96292048e-01 1.39312883e-02 2.84465205e+02] [-1.96265837e-01 9.80545378e-01 -3.23776605e-03 -6.16263976e+01] [-1.42958081e-02 4.40220457e-04 9.99897713e-01 -5.82478417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.658623853 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:284.49, Y:-61.63, Z:-5.83 [[ 9.80492551e-01 1.96068164e-01 1.38431360e-02 2.84491812e+02] [-1.96042271e-01 9.80590170e-01 -3.21662267e-03 -6.16345470e+01] [-1.42051204e-02 4.40034753e-04 9.99899005e-01 -5.82560027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.688623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:284.52, Y:-61.64, Z:-5.83 [[ 9.80538489e-01 1.95859296e-01 1.35428372e-02 2.84518262e+02] [-1.95834505e-01 9.80631913e-01 -3.14602639e-03 -6.16423644e+01] [-1.38967169e-02 4.32645127e-04 9.99903342e-01 -5.82581768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.54, Y:-61.65, Z:-5.83 [[ 9.80447466e-01 1.96290785e-01 1.38814092e-02 2.84544885e+02] [-1.96264797e-01 9.80545633e-01 -3.22363624e-03 -6.16522098e+01] [-1.42441252e-02 4.36174039e-04 9.99898452e-01 -5.82642125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.748623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.57, Y:-61.66, Z:-5.83 [[ 9.80382675e-01 1.96602045e-01 1.40515845e-02 2.84571124e+02] [-1.96575460e-01 9.80483272e-01 -3.26227366e-03 -6.16604689e+01] [-1.44187132e-02 4.36079885e-04 9.99895950e-01 -5.82691780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.778623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.60, Y:-61.67, Z:-5.83 [[ 9.80346587e-01 1.96761685e-01 1.43320573e-02 2.84596823e+02] [-1.96734070e-01 9.80451246e-01 -3.32576434e-03 -6.16690736e+01] [-1.47062664e-02 4.40797759e-04 9.99891760e-01 -5.82767790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:284.62, Y:-61.68, Z:-5.83 [[ 9.80307086e-01 1.96961313e-01 1.42919254e-02 2.84624805e+02] [-1.96933893e-01 9.80411165e-01 -3.31510519e-03 -6.16781482e+01] [-1.46649107e-02 4.35256604e-04 9.99892370e-01 -5.82787006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.838623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.65, Y:-61.69, Z:-5.83 [[ 9.80281843e-01 1.97100211e-01 1.41073064e-02 2.84651104e+02] [-1.97073518e-01 9.80383254e-01 -3.27167978e-03 -6.16899742e+01] [-1.44754157e-02 4.26991775e-04 9.99895135e-01 -5.82851654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86862385300003 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:284.68, Y:-61.70, Z:-5.82 [[ 9.80366282e-01 1.96745247e-01 1.31628399e-02 2.84678573e+02] [-1.96721989e-01 9.80454561e-01 -3.05177071e-03 -6.16987828e+01] [-1.35059878e-02 4.02433056e-04 9.99908709e-01 -5.81936125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.898623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:284.71, Y:-61.71, Z:-5.83 [[ 9.80347084e-01 1.96807916e-01 1.36469401e-02 2.84705547e+02] [-1.96782932e-01 9.80441978e-01 -3.16329382e-03 -6.17092088e+01] [-1.40025942e-02 4.15640997e-04 9.99901872e-01 -5.82962496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.73, Y:-61.72, Z:-5.83 [[ 9.80242042e-01 1.97322993e-01 1.37541310e-02 2.84731458e+02] [-1.97297673e-01 9.80338446e-01 -3.18751052e-03 -6.17215001e+01] [-1.41126726e-02 4.10873770e-04 9.99900327e-01 -5.82992054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.76, Y:-61.73, Z:-5.83 [[ 9.80248669e-01 1.97290052e-01 1.37543464e-02 2.84760046e+02] [-1.97264742e-01 9.80345076e-01 -3.18658108e-03 -6.17280377e+01] [-1.41126865e-02 4.10394269e-04 9.99900327e-01 -5.83048640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98862385300004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:284.79, Y:-61.74, Z:-5.83 [[ 9.80091864e-01 1.98076738e-01 1.36214261e-02 2.84787480e+02] [-1.98051998e-01 9.80186436e-01 -3.15532079e-03 -6.17373366e+01] [-1.39765327e-02 3.94753594e-04 9.99902246e-01 -5.83064618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.018623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:284.81, Y:-61.75, Z:-5.82 [[ 9.79674239e-01 2.00112381e-01 1.39075600e-02 2.84813506e+02] [-2.00086801e-01 9.79772880e-01 -3.22118960e-03 -6.17491075e+01] [-1.42708500e-02 3.72997276e-04 9.99898097e-01 -5.82439063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04862385300004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:284.84, Y:-61.76, Z:-5.83 [[ 9.79306782e-01 2.01839568e-01 1.47991641e-02 2.84840149e+02] [-2.01810816e-01 9.79418528e-01 -3.42669744e-03 -6.17589066e+01] [-1.51862187e-02 3.69156659e-04 9.99884615e-01 -5.83195662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.078623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:284.87, Y:-61.77, Z:-5.83 [[ 9.78946557e-01 2.03609985e-01 1.43740502e-02 2.84868855e+02] [-2.03583067e-01 9.79052023e-01 -3.32725784e-03 -6.17685388e+01] [-1.47504058e-02 3.30894396e-04 9.99891152e-01 -5.83166781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:284.90, Y:-61.78, Z:-5.83 [[ 9.77999591e-01 2.08112459e-01 1.43528747e-02 2.84895626e+02] [-2.08086109e-01 9.78104869e-01 -3.32204329e-03 -6.17797977e+01] [-1.47299753e-02 2.62323126e-04 9.99891474e-01 -5.83274036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.138623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.92, Y:-61.79, Z:-5.83 [[ 9.77467989e-01 2.10608715e-01 1.41527288e-02 2.84923544e+02] [-2.10583362e-01 9.77570417e-01 -3.27523867e-03 -6.17881866e+01] [-1.45250828e-02 2.21111758e-04 9.99894481e-01 -5.83333457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.95, Y:-61.80, Z:-5.83 [[ 9.76942406e-01 2.13057226e-01 1.37896282e-02 2.84950331e+02] [-2.13033411e-01 9.77039706e-01 -3.19059455e-03 -6.17962046e+01] [-1.41527935e-02 1.79375578e-04 9.99899828e-01 -5.83396962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.198623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:284.98, Y:-61.81, Z:-5.83 [[ 9.75885931e-01 2.17874290e-01 1.33207654e-02 2.84977951e+02] [-2.17852527e-01 9.75976835e-01 -3.08123256e-03 -6.18067428e+01] [-1.36720799e-02 1.04969100e-04 9.99906527e-01 -5.83469370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:285.01, Y:-61.82, Z:-5.84 [[ 9.75446542e-01 2.19822928e-01 1.34878863e-02 2.85005202e+02] [-2.19800811e-01 9.75539786e-01 -3.11920446e-03 -6.18152882e+01] [-1.38436424e-02 7.79688580e-05 9.99904169e-01 -5.83510514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.258623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.03, Y:-61.82, Z:-5.84 [[ 9.75048730e-01 2.21564642e-01 1.37507882e-02 2.85033217e+02] [-2.21541837e-01 9.75145685e-01 -3.17927899e-03 -6.18241534e+01] [-1.41134376e-02 5.35770513e-05 9.99900399e-01 -5.83549417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28862385300005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:285.06, Y:-61.83, Z:-5.83 [[ 9.74762613e-01 2.22810690e-01 1.39012536e-02 2.85060005e+02] [-2.22787519e-01 9.74861731e-01 -3.21340386e-03 -6.18319948e+01] [-1.42677809e-02 3.52801317e-05 9.99898209e-01 -5.83183419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.318623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.09, Y:-61.84, Z:-5.84 [[ 9.74266585e-01 2.24885517e-01 1.52027961e-02 2.85085668e+02] [-2.24858073e-01 9.74385193e-01 -3.51317895e-03 -6.18421863e+01] [-1.56034425e-02 4.30142058e-06 9.99878259e-01 -5.83557973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.11, Y:-61.85, Z:-5.84 [[ 9.74102667e-01 2.25570342e-01 1.55568528e-02 2.85113757e+02] [-2.25541709e-01 9.74226884e-01 -3.59396285e-03 -6.18505697e+01] [-1.59665957e-02 -7.83037626e-06 9.99872526e-01 -5.83652986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.378623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.14, Y:-61.86, Z:-5.84 [[ 9.73977328e-01 2.26112447e-01 1.55346865e-02 2.85141749e+02] [-2.26083979e-01 9.74101207e-01 -3.58799010e-03 -6.18590701e+01] [-1.59436460e-02 -1.75227127e-05 9.99872892e-01 -5.83697369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.408623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:285.17, Y:-61.87, Z:-5.84 [[ 9.73909193e-01 2.26416380e-01 1.53787764e-02 2.85170049e+02] [-2.26388525e-01 9.74030606e-01 -3.55158865e-03 -6.18675415e+01] [-1.57835368e-02 -2.26536648e-05 9.99875432e-01 -5.83772033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.438623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.20, Y:-61.88, Z:-5.84 [[ 9.73983090e-01 2.26133576e-01 1.48507792e-02 2.85197602e+02] [-2.26107575e-01 9.74096302e-01 -3.42912180e-03 -6.18773686e+01] [-1.52415287e-02 -1.79670295e-05 9.99883841e-01 -5.83555272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.23, Y:-61.89, Z:-5.84 [[ 9.73998675e-01 2.26056381e-01 1.50031015e-02 2.85225559e+02] [-2.26029830e-01 9.74114219e-01 -3.46466491e-03 -6.18863577e+01] [-1.53979441e-02 -1.65694482e-05 9.99881444e-01 -5.84022352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.25, Y:-61.89, Z:-5.84 [[ 9.74070359e-01 2.25762425e-01 1.47737003e-02 2.85253983e+02] [-2.25736652e-01 9.74182389e-01 -3.41127230e-03 -6.18949804e+01] [-1.51624157e-02 -1.21464050e-05 9.99885044e-01 -5.84055801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.528623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.28, Y:-61.90, Z:-5.84 [[ 9.74163064e-01 2.25362037e-01 1.47742386e-02 2.85281745e+02] [-2.25336218e-01 9.74275091e-01 -3.41125922e-03 -6.19047181e+01] [-1.51629409e-02 -6.04830610e-06 9.99885036e-01 -5.84106482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.31, Y:-61.91, Z:-5.84 [[ 9.74193509e-01 2.25234273e-01 1.47149553e-02 2.85309987e+02] [-2.25208651e-01 9.74304635e-01 -3.39721307e-03 -6.19125073e+01] [-1.51020180e-02 -4.39231708e-06 9.99885958e-01 -5.84138662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.588623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:285.34, Y:-61.92, Z:-5.84 [[ 9.74271247e-01 2.24906321e-01 1.45836619e-02 2.85338229e+02] [-2.24881124e-01 9.74380391e-01 -3.36654984e-03 -6.19203088e+01] [-1.49671926e-02 3.42435053e-07 9.99887985e-01 -5.84213614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.37, Y:-61.93, Z:-5.84 [[ 9.74446522e-01 2.24127630e-01 1.48587180e-02 2.85365800e+02] [-2.24101387e-01 9.74559801e-01 -3.42972369e-03 -6.19295639e+01] [-1.52494051e-02 1.22230180e-05 9.99883721e-01 -5.84284576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.39, Y:-61.94, Z:-5.84 [[ 9.74565910e-01 2.23583625e-01 1.52200610e-02 2.85393977e+02] [-2.23556034e-01 9.74684750e-01 -3.51251865e-03 -6.19375191e+01] [-1.56201031e-02 2.06444571e-05 9.99877999e-01 -5.84378646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:285.42, Y:-61.95, Z:-5.84 [[ 9.74681096e-01 2.23079163e-01 1.52462662e-02 2.85424648e+02] [-2.23051423e-01 9.74800331e-01 -3.51802281e-03 -6.19455476e+01] [-1.56468629e-02 2.82489543e-05 9.99877580e-01 -5.83918370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.708623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.45, Y:-61.96, Z:-5.84 [[ 9.74978991e-01 2.21711137e-01 1.61288434e-02 2.85454404e+02] [-2.21679904e-01 9.75112388e-01 -3.72174112e-03 -6.19555406e+01] [-1.65525865e-02 5.31789482e-05 9.99862995e-01 -5.84475533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.49, Y:-61.96, Z:-5.85 [[ 9.75058736e-01 2.21356917e-01 1.61733557e-02 2.85485322e+02] [-2.21325419e-01 9.75192859e-01 -3.73464200e-03 -6.19645250e+01] [-1.65988298e-02 6.19205848e-05 9.99862228e-01 -5.84532562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.52, Y:-61.97, Z:-5.85 [[ 9.75090438e-01 2.21229038e-01 1.60109266e-02 2.85516331e+02] [-2.21198106e-01 9.75221877e-01 -3.69990858e-03 -6.19731798e+01] [-1.64327331e-02 6.61588267e-05 9.99864971e-01 -5.84564650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.55, Y:-61.98, Z:-5.85 [[ 9.74944641e-01 2.21952324e-01 1.48361907e-02 2.85546185e+02] [-2.21925812e-01 9.75057518e-01 -3.43085325e-03 -6.19821044e+01] [-1.52276251e-02 5.23583258e-05 9.99884052e-01 -5.84668637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.828623853 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:285.58, Y:-61.99, Z:-5.84 [[ 9.74741227e-01 2.22909637e-01 1.38142616e-02 2.85576376e+02] [-2.22886709e-01 9.74839111e-01 -3.19723344e-03 -6.19895331e+01] [-1.41793766e-02 3.74599474e-05 9.99899467e-01 -5.83929413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:285.61, Y:-62.00, Z:-5.85 [[ 9.74578203e-01 2.23605171e-01 1.40731883e-02 2.85605573e+02] [-2.23581443e-01 9.74679807e-01 -3.25757666e-03 -6.19976616e+01] [-1.44452635e-02 2.82594597e-05 9.99895661e-01 -5.84871686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:285.64, Y:-62.01, Z:-5.85 [[ 9.74063125e-01 2.25836691e-01 1.41002431e-02 2.85636195e+02] [-2.25813103e-01 9.74165176e-01 -3.26395640e-03 -6.20064722e+01] [-1.44730869e-02 -4.72007310e-06 9.99895259e-01 -5.84933396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91862385300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:285.67, Y:-62.01, Z:-5.85 [[ 9.73738404e-01 2.27217021e-01 1.43508494e-02 2.85666455e+02] [-2.27192731e-01 9.73844148e-01 -3.32232678e-03 -6.20141691e+01] [-1.47303799e-02 -2.53314926e-05 9.99891502e-01 -5.85004458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.948623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.70, Y:-62.02, Z:-5.85 [[ 9.73406395e-01 2.28609037e-01 1.47613561e-02 2.85696152e+02] [-2.28583495e-01 9.73518313e-01 -3.41761013e-03 -6.20215330e+01] [-1.51517471e-02 -4.74788128e-05 9.99885205e-01 -5.85010939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97862385300004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:285.73, Y:-62.03, Z:-5.85 [[ 9.72928397e-01 2.30639693e-01 1.46855602e-02 2.85725187e+02] [-2.30614627e-01 9.73039221e-01 -3.40119072e-03 -6.20290487e+01] [-1.50740756e-02 -7.75899427e-05 9.99886377e-01 -5.85079201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.008623853 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:285.76, Y:-62.04, Z:-5.84 [[ 9.72688618e-01 2.31695769e-01 1.39256207e-02 2.85755143e+02] [-2.31673341e-01 9.72788293e-01 -3.22497174e-03 -6.20357962e+01] [-1.42938931e-02 -8.93017604e-05 9.99897833e-01 -5.84282289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.78, Y:-62.04, Z:-5.85 [[ 9.72603020e-01 2.32017351e-01 1.45366244e-02 2.85784312e+02] [-2.31992948e-01 9.72711642e-01 -3.36647134e-03 -6.20426932e+01] [-1.49210235e-02 -9.81541480e-05 9.99888671e-01 -5.85304939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.068623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:285.82, Y:-62.05, Z:-5.85 [[ 9.72205955e-01 2.33639872e-01 1.50993839e-02 2.85815307e+02] [-2.33613740e-01 9.72323194e-01 -3.49670377e-03 -6.20495309e+01] [-1.54984506e-02 -1.27907307e-04 9.99879884e-01 -5.85284491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09862385300005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.85, Y:-62.06, Z:-5.85 [[ 9.71895277e-01 2.34901760e-01 1.55155887e-02 2.85846045e+02] [-2.34874328e-01 9.72019105e-01 -3.59304165e-03 -6.20562453e+01] [-1.59254605e-02 -1.52153268e-04 9.99873170e-01 -5.85368374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.128623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:285.88, Y:-62.06, Z:-5.85 [[ 9.71645474e-01 2.35918745e-01 1.57295382e-02 2.85875342e+02] [-2.35890633e-01 9.71772770e-01 -3.64579913e-03 -6.20623400e+01] [-1.61456493e-02 -1.68026503e-04 9.99869636e-01 -5.85432754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.158623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:285.91, Y:-62.07, Z:-5.85 [[ 9.71055517e-01 2.38340446e-01 1.56529428e-02 2.85906449e+02] [-2.38312930e-01 9.71181646e-01 -3.62751998e-03 -6.20689265e+01] [-1.60664355e-02 -2.07775374e-04 9.99870905e-01 -5.85439196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.188623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:285.94, Y:-62.08, Z:-5.86 [[ 9.70782124e-01 2.39447832e-01 1.57099664e-02 2.85935757e+02] [-2.39420253e-01 9.70909205e-01 -3.64117145e-03 -6.20750029e+01] [-1.61248216e-02 -2.26499968e-04 9.99869961e-01 -5.85517678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.218623853 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:285.96, Y:-62.08, Z:-5.85 [[ 9.70521195e-01 2.40555163e-01 1.48937588e-02 2.85964804e+02] [-2.40530501e-01 9.70635441e-01 -3.45226597e-03 -6.20803408e+01] [-1.52868705e-02 -2.31905965e-04 9.99883122e-01 -5.84859747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.248623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.00, Y:-62.09, Z:-5.86 [[ 9.70332378e-01 2.41286402e-01 1.53606059e-02 2.85995688e+02] [-2.41260267e-01 9.70453919e-01 -3.56015253e-03 -6.20850853e+01] [-1.57657766e-02 -2.51372623e-04 9.99875681e-01 -5.85671696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:286.03, Y:-62.09, Z:-5.86 [[ 9.70258773e-01 2.41563041e-01 1.56591776e-02 2.86025880e+02] [-2.41535911e-01 9.70385093e-01 -3.62965300e-03 -6.20911779e+01] [-1.60722225e-02 -2.60551059e-04 9.99870800e-01 -5.85776705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:286.05, Y:-62.10, Z:-5.86 [[ 9.70273541e-01 2.41515754e-01 1.54724579e-02 2.86054712e+02] [-2.41489243e-01 9.70396865e-01 -3.58750546e-03 -6.20968046e+01] [-1.58808637e-02 -2.55570509e-04 9.99873858e-01 -5.85796988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.338623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:286.08, Y:-62.10, Z:-5.86 [[ 9.70519286e-01 2.40542359e-01 1.52213235e-02 2.86082977e+02] [-2.40516584e-01 9.70638613e-01 -3.52917783e-03 -6.21010209e+01] [-1.56233211e-02 -2.35845586e-04 9.99877921e-01 -5.85855882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:286.11, Y:-62.11, Z:-5.86 [[ 9.70755586e-01 2.39572977e-01 1.54395803e-02 2.86112594e+02] [-2.39546344e-01 9.70878334e-01 -3.57915949e-03 -6.21066487e+01] [-1.58474239e-02 -2.24005939e-04 9.99874397e-01 -5.85935079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.398623853 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:286.14, Y:-62.11, Z:-5.86 [[ 9.71064820e-01 2.38291133e-01 1.58256834e-02 2.86142210e+02] [-2.38262989e-01 9.71193746e-01 -3.66818917e-03 -6.21120288e+01] [-1.62439017e-02 -2.08625173e-04 9.99868037e-01 -5.86002928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42862385300003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:286.17, Y:-62.12, Z:-5.86 [[ 9.71837561e-01 2.35102462e-01 1.60806726e-02 2.86172532e+02] [-2.35072967e-01 9.71970580e-01 -3.72729238e-03 -6.21162679e+01] [-1.65062363e-02 -1.57808687e-04 9.99863750e-01 -5.86080331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.458623853 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:286.20, Y:-62.12, Z:-5.86 [[ 9.72280955e-01 2.33264462e-01 1.60448080e-02 2.86201215e+02] [-2.33234848e-01 9.72413325e-01 -3.71894043e-03 -6.21222997e+01] [-1.64696817e-02 -1.26353401e-04 9.99864358e-01 -5.86122967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48862385300004 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:286.23, Y:-62.13, Z:-5.85 [[ 9.73302275e-01 2.28989326e-01 1.57025576e-02 2.86232754e+02] [-2.28960403e-01 9.73428932e-01 -3.63979428e-03 -6.21277523e+01] [-1.61187980e-02 -5.26438758e-05 9.99870082e-01 -5.85385553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.518623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:286.26, Y:-62.13, Z:-5.86 [[ 9.73790891e-01 2.26854379e-01 1.63826485e-02 2.86262572e+02] [-2.26822586e-01 9.73928689e-01 -3.79790412e-03 -6.21342269e+01] [-1.68171025e-02 -1.75902642e-05 9.99858582e-01 -5.86243078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:286.29, Y:-62.14, Z:-5.86 [[ 9.74263901e-01 2.24812523e-01 1.64067194e-02 2.86292231e+02] [-2.24780343e-01 9.74402037e-01 -3.80372275e-03 -6.21401620e+01] [-1.68418653e-02 1.79217511e-05 9.99858166e-01 -5.86305274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.578623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:286.32, Y:-62.15, Z:-5.86 [[ 9.74690025e-01 2.22960272e-01 1.63729144e-02 2.86320709e+02] [-2.22927964e-01 9.74827531e-01 -3.79585152e-03 -6.21457785e+01] [-1.68070918e-02 4.97981448e-05 9.99858750e-01 -5.86325434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:286.35, Y:-62.15, Z:-5.86 [[ 9.75450941e-01 2.19612689e-01 1.63011795e-02 2.86351528e+02] [-2.19580191e-01 9.75587134e-01 -3.77941994e-03 -6.21515556e+01] [-1.67332296e-02 1.07222608e-04 9.99859984e-01 -5.86402284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.638623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:286.38, Y:-62.16, Z:-5.86 [[ 9.75840469e-01 2.17868476e-01 1.63922608e-02 2.86381325e+02] [-2.17835361e-01 9.75978129e-01 -3.80098174e-03 -6.21578939e+01] [-1.68266021e-02 1.38337763e-04 9.99858413e-01 -5.86483116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:286.41, Y:-62.16, Z:-5.87 [[ 9.76223854e-01 2.16157350e-01 1.62168965e-02 2.86412328e+02] [-2.16124701e-01 9.76358527e-01 -3.76048435e-03 -6.21646070e+01] [-1.66463615e-02 1.66202613e-04 9.99861426e-01 -5.86543750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.698623853 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:286.44, Y:-62.17, Z:-5.86 [[ 9.76915834e-01 2.13071145e-01 1.53668553e-02 2.86443092e+02] [-2.13041449e-01 9.77036665e-01 -3.56325768e-03 -6.21707588e+01] [-1.57732085e-02 2.07225721e-04 9.99875574e-01 -5.85879909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72862385300004 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:286.47, Y:-62.18, Z:-5.87 [[ 9.77343944e-01 2.11064293e-01 1.58328644e-02 2.86472282e+02] [-2.11032453e-01 9.77472149e-01 -3.67451011e-03 -6.21774472e+01] [-1.62517419e-02 2.50011987e-04 9.99867900e-01 -5.86653462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.758623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:286.50, Y:-62.18, Z:-5.87 [[ 9.77729509e-01 2.09272483e-01 1.58124997e-02 2.86503039e+02] [-2.09240488e-01 9.77857326e-01 -3.66994809e-03 -6.21846684e+01] [-1.62303878e-02 2.79601388e-04 9.99868239e-01 -5.86728904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78862385300005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:286.53, Y:-62.19, Z:-5.87 [[ 9.78102805e-01 2.07531520e-01 1.56706801e-02 2.86533684e+02] [-2.07499867e-01 9.78228283e-01 -3.63741730e-03 -6.21921000e+01] [-1.60843813e-02 3.06104014e-04 9.99870591e-01 -5.86817383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.818623853 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:286.56, Y:-62.20, Z:-5.87 [[ 9.78773811e-01 2.04353823e-01 1.55351837e-02 2.86563701e+02] [-2.04322308e-01 9.78897027e-01 -3.60634835e-03 -6.22000921e+01] [-1.59443162e-02 3.55614728e-04 9.99872818e-01 -5.86828790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84862385300005 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:286.59, Y:-62.21, Z:-5.86 [[ 9.79060136e-01 2.03003256e-01 1.51963166e-02 2.86594964e+02] [-2.02972941e-01 9.79177993e-01 -3.52750824e-03 -6.22075837e+01] [-1.55959944e-02 3.69201623e-04 9.99878307e-01 -5.85981274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.878623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:286.63, Y:-62.22, Z:-5.87 [[ 9.79335045e-01 2.01615137e-01 1.59438250e-02 2.86625215e+02] [-2.01581535e-01 9.79464734e-01 -3.70395133e-03 -6.22159816e+01] [-1.63631870e-02 4.13428627e-04 9.99866029e-01 -5.86985524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.908623853 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:286.66, Y:-62.22, Z:-5.87 [[ 9.79328066e-01 2.01649094e-01 1.59430769e-02 2.86656204e+02] [-2.01615444e-01 9.79457743e-01 -3.70716836e-03 -6.22232378e+01] [-1.63631173e-02 4.16163481e-04 9.99866029e-01 -5.87046973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.938623853 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:286.69, Y:-62.23, Z:-5.86 [[ 9.79790191e-01 1.99419926e-01 1.55844226e-02 2.86688111e+02] [-1.99387491e-01 9.79914025e-01 -3.62380282e-03 -6.22321539e+01] [-1.59940528e-02 4.43227542e-04 9.99871989e-01 -5.86198172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.968623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:286.72, Y:-62.24, Z:-5.87 [[ 9.79945106e-01 1.98618710e-01 1.60685169e-02 2.86720233e+02] [-1.98584066e-01 9.80076723e-01 -3.73966181e-03 -6.22410414e+01] [-1.64911462e-02 4.73711876e-04 9.99863900e-01 -5.87106888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.998623853 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:286.75, Y:-62.25, Z:-5.87 [[ 9.80017791e-01 1.98254401e-01 1.61344700e-02 2.86752368e+02] [-1.98219366e-01 9.80150477e-01 -3.75840853e-03 -6.22499801e+01] [-1.65593295e-02 4.85142806e-04 9.99862767e-01 -5.87175027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.028623853 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:286.78, Y:-62.26, Z:-5.87 [[ 9.80041940e-01 1.98156825e-01 1.58640534e-02 2.86784078e+02] [-1.98122890e-01 9.80170210e-01 -3.69864774e-03 -6.22591731e+01] [-1.62823849e-02 4.81797800e-04 9.99867317e-01 -5.87201626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05862385300003 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:286.81, Y:-62.27, Z:-5.87 [[ 9.79999375e-01 1.98380660e-01 1.56952078e-02 2.86813978e+02] [-1.98347420e-01 9.80124934e-01 -3.66255187e-03 -6.22696438e+01] [-1.61098440e-02 4.76194569e-04 9.99870115e-01 -5.87257296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.088623853 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:286.85, Y:-62.28, Z:-5.87 [[ 9.79872013e-01 1.99011195e-01 1.56647004e-02 2.86845917e+02] [-1.98978115e-01 9.79997105e-01 -3.65848178e-03 -6.22787705e+01] [-1.60794399e-02 4.67911344e-04 9.99870608e-01 -5.87328693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11862385300003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:286.88, Y:-62.29, Z:-5.87 [[ 9.79714399e-01 1.99782917e-01 1.56997586e-02 2.86877354e+02] [-1.99749738e-01 9.79840076e-01 -3.66971072e-03 -6.22875466e+01] [-1.61163982e-02 4.59245758e-04 9.99870017e-01 -5.87339996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.148623853 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:286.91, Y:-62.30, Z:-5.87 [[ 9.79486319e-01 2.00880704e-01 1.59215076e-02 2.86908560e+02] [-2.00846672e-01 9.79615608e-01 -3.72489516e-03 -6.22962579e+01] [-1.63452169e-02 4.50702037e-04 9.99866306e-01 -5.87363678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17862385300003 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:286.94, Y:-62.31, Z:-5.87 [[ 9.79016234e-01 2.03174994e-01 1.57205699e-02 2.86940104e+02] [-2.03142063e-01 9.79142356e-01 -3.68080995e-03 -6.23061741e+01] [-1.61405244e-02 4.10063685e-04 9.99869649e-01 -5.87375487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.208623853 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:286.97, Y:-62.31, Z:-5.87 [[ 9.78789186e-01 2.04272091e-01 1.56410286e-02 2.86971033e+02] [-2.04239581e-01 9.78914071e-01 -3.66538584e-03 -6.23143945e+01] [-1.60599590e-02 3.93122894e-04 9.99870953e-01 -5.87459111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:287.00, Y:-62.32, Z:-5.88 [[ 9.78542930e-01 2.05439683e-01 1.57566080e-02 2.87002370e+02] [-2.05406795e-01 9.78669705e-01 -3.69544068e-03 -6.23235034e+01] [-1.61797050e-02 3.79633015e-04 9.99869028e-01 -5.87540460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.268623853 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:287.03, Y:-62.33, Z:-5.87 [[ 9.78102516e-01 2.07527422e-01 1.57428404e-02 2.87033231e+02] [-2.07494806e-01 9.78229139e-01 -3.69563132e-03 -6.23341968e+01] [-1.61670501e-02 3.48148675e-04 9.99869244e-01 -5.86791804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29862385300004 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:287.07, Y:-62.34, Z:-5.88 [[ 9.77910595e-01 2.08408713e-01 1.60211374e-02 2.87065007e+02] [-2.08375021e-01 9.78041764e-01 -3.76281759e-03 -6.23439051e+01] [-1.64535454e-02 3.41294348e-04 9.99864573e-01 -5.87627284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.328623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:287.10, Y:-62.35, Z:-5.88 [[ 9.77703256e-01 2.09394647e-01 1.58184751e-02 2.87095918e+02] [-2.09361880e-01 9.77831160e-01 -3.71840934e-03 -6.23527983e+01] [-1.62464129e-02 3.23715248e-04 9.99867966e-01 -5.87734415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35862385300004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:287.13, Y:-62.36, Z:-5.88 [[ 9.77320458e-01 2.11219026e-01 1.52067656e-02 2.87126302e+02] [-2.11188921e-01 9.77438715e-01 -3.57736167e-03 -6.23633678e+01] [-1.56192883e-02 2.84728320e-04 9.99877971e-01 -5.87813795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.388623853 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:287.16, Y:-62.37, Z:-5.88 [[ 9.77057189e-01 2.12444758e-01 1.50490459e-02 2.87157693e+02] [-2.12415378e-01 9.77173042e-01 -3.54293645e-03 -6.23724638e+01] [-1.54582002e-02 2.65002753e-04 9.99880480e-01 -5.87888306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41862385300004 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:287.19, Y:-62.38, Z:-5.88 [[ 9.76807834e-01 2.13582131e-01 1.51370324e-02 2.87189344e+02] [-2.13552496e-01 9.76925079e-01 -3.56668079e-03 -6.23814736e+01] [-1.55495259e-02 2.51410686e-04 9.99879067e-01 -5.87941865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.448623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.22, Y:-62.39, Z:-5.88 [[ 9.76320585e-01 2.15791990e-01 1.52293074e-02 2.87220494e+02] [-2.15762214e-01 9.76439332e-01 -3.59149458e-03 -6.23918921e+01] [-1.56455105e-02 2.20541006e-04 9.99877577e-01 -5.87987981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47862385300004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:287.25, Y:-62.40, Z:-5.88 [[ 9.76105091e-01 2.16743257e-01 1.55309905e-02 2.87251877e+02] [-2.16712358e-01 9.76228618e-01 -3.66582285e-03 -6.24007102e+01] [-1.59563398e-02 2.12470774e-04 9.99872667e-01 -5.88041198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.508623853 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:287.28, Y:-62.41, Z:-5.88 [[ 9.75915495e-01 2.17589248e-01 1.56162276e-02 2.87282523e+02] [-2.17558067e-01 9.76040408e-01 -3.68913357e-03 -6.24096017e+01] [-1.60447849e-02 2.02846330e-04 9.99871254e-01 -5.88099374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53862385300005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:287.31, Y:-62.42, Z:-5.88 [[ 9.75610180e-01 2.18927437e-01 1.59860483e-02 2.87313849e+02] [-2.18894890e-01 9.75741125e-01 -3.77952903e-03 -6.24204835e+01] [-1.64256874e-02 1.88082704e-04 9.99865072e-01 -5.88121823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.568623853 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:287.34, Y:-62.43, Z:-5.88 [[ 9.75426864e-01 2.19735264e-01 1.60886963e-02 2.87344777e+02] [-2.19702351e-01 9.75559522e-01 -3.80729524e-03 -6.24295442e+01] [-1.65320779e-02 1.79013672e-04 9.99863320e-01 -5.88126705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59862385300005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:287.38, Y:-62.44, Z:-5.88 [[ 9.75290105e-01 2.20335599e-01 1.61689534e-02 2.87376910e+02] [-2.20302408e-01 9.75424110e-01 -3.82814605e-03 -6.24385558e+01] [-1.66150638e-02 1.71493608e-04 9.99861946e-01 -5.88198922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.628623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:287.41, Y:-62.45, Z:-5.88 [[ 9.74959422e-01 2.21829599e-01 1.56765273e-02 2.87408614e+02] [-2.21798543e-01 9.75085436e-01 -3.71458721e-03 -6.24488647e+01] [-1.61099588e-02 1.44540888e-04 9.99870216e-01 -5.88273110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.658623853 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:287.44, Y:-62.46, Z:-5.88 [[ 9.74779855e-01 2.22641168e-01 1.53344462e-02 2.87439613e+02] [-2.22611505e-01 9.74900453e-01 -3.63656991e-03 -6.24577008e+01] [-1.57592087e-02 1.31230944e-04 9.99875807e-01 -5.88357297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.688623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:287.47, Y:-62.47, Z:-5.88 [[ 9.74618053e-01 2.23350402e-01 1.53051851e-02 2.87471401e+02] [-2.23320895e-01 9.74738213e-01 -3.63246069e-03 -6.24662695e+01] [-1.57298603e-02 1.22294132e-04 9.99876271e-01 -5.88361478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.718623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:287.50, Y:-62.47, Z:-5.88 [[ 9.74448116e-01 2.24087629e-01 1.53493865e-02 2.87503412e+02] [-2.24057994e-01 9.74568993e-01 -3.64605177e-03 -6.24745795e+01] [-1.57760712e-02 1.13735539e-04 9.99875544e-01 -5.88398673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.748623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:287.54, Y:-62.48, Z:-5.88 [[ 9.74178598e-01 2.25225222e-01 1.58006020e-02 2.87535459e+02] [-2.25193915e-01 9.74306722e-01 -3.75649809e-03 -6.24835749e+01] [-1.62406909e-02 1.01300609e-04 9.99868106e-01 -5.88463596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.778623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:287.57, Y:-62.49, Z:-5.89 [[ 9.74048642e-01 2.25795450e-01 1.56734884e-02 2.87566520e+02] [-2.25764666e-01 9.74174731e-01 -3.72962520e-03 -6.24922850e+01] [-1.61108488e-02 9.43164821e-05 9.99870207e-01 -5.88534627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80862385300003 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:287.60, Y:-62.50, Z:-5.89 [[ 9.73904869e-01 2.26427686e-01 1.54857625e-02 2.87598392e+02] [-2.26397688e-01 9.74027975e-01 -3.68659895e-03 -6.25009883e+01] [-1.59183139e-02 8.44558466e-05 9.99873292e-01 -5.88591168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.838623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:287.63, Y:-62.51, Z:-5.89 [[ 9.73509791e-01 2.28116097e-01 1.55477675e-02 2.87629122e+02] [-2.28086022e-01 9.73633937e-01 -3.70457251e-03 -6.25097641e+01] [-1.59829067e-02 6.02091724e-05 9.99872263e-01 -5.88688259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86862385300003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:287.66, Y:-62.52, Z:-5.89 [[ 9.73257712e-01 2.29183621e-01 1.56298703e-02 2.87660874e+02] [-2.29153319e-01 9.73383206e-01 -3.72704319e-03 -6.25181751e+01] [-1.60680305e-02 4.57368879e-05 9.99870900e-01 -5.88789047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.898623853 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:287.69, Y:-62.53, Z:-5.88 [[ 9.73025903e-01 2.30222688e-01 1.47684162e-02 2.87692040e+02] [-2.30195710e-01 9.73137972e-01 -3.52446587e-03 -6.25263072e+01] [-1.51831186e-02 2.97705228e-05 9.99884729e-01 -5.88104490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92862385300003 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:287.72, Y:-62.53, Z:-5.88 [[ 9.72751205e-01 2.31387037e-01 1.46673593e-02 2.87722606e+02] [-2.31360518e-01 9.72861778e-01 -3.50312238e-03 -6.25341286e+01] [-1.50798904e-02 1.42186646e-05 9.99886292e-01 -5.88376969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.958623853 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:287.75, Y:-62.54, Z:-5.89 [[ 9.72342054e-01 2.33115965e-01 1.44179409e-02 2.87754725e+02] [-2.33090492e-01 9.72448943e-01 -3.44611866e-03 -6.25420900e+01] [-1.48240566e-02 -9.87884040e-06 9.99890118e-01 -5.88957564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.79, Y:-62.55, Z:-5.89 [[ 9.72131129e-01 2.33995730e-01 1.43897942e-02 2.87786605e+02] [-2.33970410e-01 9.72237624e-01 -3.44226238e-03 -6.25499514e+01] [-1.47957741e-02 -2.04556548e-05 9.99890536e-01 -5.89049957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.018623853 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:287.82, Y:-62.56, Z:-5.89 [[ 9.71951540e-01 2.34732543e-01 1.45202243e-02 2.87818847e+02] [-2.34706799e-01 9.72059994e-01 -3.47644611e-03 -6.25576950e+01] [-1.49305642e-02 -2.90582157e-05 9.99888532e-01 -5.89099446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04862385300004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:287.85, Y:-62.56, Z:-5.89 [[ 9.71834801e-01 2.35222774e-01 1.44002448e-02 2.87849727e+02] [-2.35197464e-01 9.71941483e-01 -3.45070869e-03 -6.25648760e+01] [-1.48078805e-02 -3.33822633e-05 9.99890357e-01 -5.89134912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.078623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:287.88, Y:-62.57, Z:-5.89 [[ 9.71771810e-01 2.35470334e-01 1.46038305e-02 2.87881431e+02] [-2.35444289e-01 9.71881536e-01 -3.50233045e-03 -6.25720364e+01] [-1.50178882e-02 -3.49224944e-05 9.99887225e-01 -5.89215201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10862385300004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:287.91, Y:-62.58, Z:-5.89 [[ 9.71820423e-01 2.35271231e-01 1.45778515e-02 2.87913101e+02] [-2.35245213e-01 9.71929754e-01 -3.49892555e-03 -6.25797328e+01] [-1.49918441e-02 -2.90424675e-05 9.99887616e-01 -5.89196568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.138623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:287.95, Y:-62.59, Z:-5.89 [[ 9.71960820e-01 2.34662823e-01 1.50174746e-02 2.87945613e+02] [-2.34635089e-01 9.72076828e-01 -3.60770114e-03 -6.25871612e+01] [-1.54447324e-02 -1.70823315e-05 9.99880723e-01 -5.89258694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16862385300004 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:287.98, Y:-62.59, Z:-5.88 [[ 9.71977981e-01 2.34642723e-01 1.41985220e-02 2.87977890e+02] [-2.34617890e-01 9.72081680e-01 -3.41370542e-03 -6.25948686e+01] [-1.46031242e-02 -1.31807579e-05 9.99893369e-01 -5.88480209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.198623853 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:288.01, Y:-62.60, Z:-5.89 [[ 9.72118599e-01 2.34020192e-01 1.48316752e-02 2.88009417e+02] [-2.33992968e-01 9.72231737e-01 -3.56950928e-03 -6.26017433e+01] [-1.52551626e-02 -5.21337490e-07 9.99883633e-01 -5.89353064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.04, Y:-62.61, Z:-5.89 [[ 9.72157629e-01 2.33842847e-01 1.50687542e-02 2.88041414e+02] [-2.33814697e-01 9.72274407e-01 -3.62827795e-03 -6.26092847e+01] [-1.54994109e-02 3.96189549e-06 9.99879877e-01 -5.89435191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.258623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:288.07, Y:-62.62, Z:-5.89 [[ 9.72281356e-01 2.33333602e-01 1.49798273e-02 2.88073943e+02] [-2.33305676e-01 9.72396745e-01 -3.60989611e-03 -6.26165554e+01] [-1.54086454e-02 1.49559495e-05 9.99881280e-01 -5.89492784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28862385300005 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:288.11, Y:-62.62, Z:-5.90 [[ 9.72418780e-01 2.32780257e-01 1.46651780e-02 2.88105505e+02] [-2.32753384e-01 9.72529358e-01 -3.53708083e-03 -6.26228905e+01] [-1.50856787e-02 2.61540295e-05 9.99886204e-01 -5.89576051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.318623853 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:288.14, Y:-62.63, Z:-5.90 [[ 9.72419512e-01 2.32786489e-01 1.45169929e-02 2.88137399e+02] [-2.32760117e-01 9.72527866e-01 -3.50405831e-03 -6.26303980e+01] [-1.49338775e-02 2.84377207e-05 9.99888483e-01 -5.89632294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34862385300005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:288.17, Y:-62.64, Z:-5.90 [[ 9.72500080e-01 2.32437468e-01 1.47111342e-02 2.88168890e+02] [-2.32410299e-01 9.72611342e-01 -3.55396401e-03 -6.26377768e+01] [-1.51342904e-02 3.72111828e-05 9.99885469e-01 -5.89680845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.378623853 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:288.20, Y:-62.64, Z:-5.89 [[ 9.72747452e-01 2.31392281e-01 1.48326542e-02 2.88200929e+02] [-2.31364495e-01 9.72860529e-01 -3.58631590e-03 -6.26445862e+01] [-1.52599497e-02 5.68301005e-05 9.99883559e-01 -5.89346725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.408623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:288.23, Y:-62.65, Z:-5.90 [[ 9.72899268e-01 2.30742985e-01 1.49896237e-02 2.88232116e+02] [-2.30714480e-01 9.73014733e-01 -3.62747723e-03 -6.26519866e+01] [-1.54221396e-02 7.08467064e-05 9.99881069e-01 -5.89745266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.438623853 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:288.26, Y:-62.66, Z:-5.90 [[ 9.73031913e-01 2.30191968e-01 1.48510871e-02 2.88263974e+02] [-2.30163881e-01 9.73145236e-01 -3.59675925e-03 -6.26598770e+01] [-1.52802098e-02 8.15776815e-05 9.99883247e-01 -5.89806949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.468623853 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:288.30, Y:-62.67, Z:-5.90 [[ 9.73415203e-01 2.28596247e-01 1.43735556e-02 2.88295842e+02] [-2.28569722e-01 9.73521312e-01 -3.48387620e-03 -6.26668451e+01] [-1.47893637e-02 1.05898455e-04 9.99890626e-01 -5.89844957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.498623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.33, Y:-62.67, Z:-5.90 [[ 9.73566104e-01 2.27951946e-01 1.43858125e-02 2.88328382e+02] [-2.27925263e-01 9.73672376e-01 -3.48973902e-03 -6.26747147e+01] [-1.48025610e-02 1.18601537e-04 9.99890429e-01 -5.89927417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.528623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.36, Y:-62.68, Z:-5.90 [[ 9.73700311e-01 2.27384882e-01 1.42765294e-02 2.88359416e+02] [-2.27358499e-01 9.73804959e-01 -3.46611825e-03 -6.26825339e+01] [-1.46906980e-02 1.29070124e-04 9.99892078e-01 -5.90005758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55862385300003 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:288.39, Y:-62.69, Z:-5.90 [[ 9.73840098e-01 2.26793586e-01 1.41468030e-02 2.88391522e+02] [-2.26767580e-01 9.73942837e-01 -3.43722414e-03 -6.26906811e+01] [-1.45577178e-02 1.39270406e-04 9.99894021e-01 -5.90065689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.588623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.42, Y:-62.70, Z:-5.90 [[ 9.73994467e-01 2.26134649e-01 1.40676483e-02 2.88423847e+02] [-2.26108827e-01 9.74096041e-01 -3.42061906e-03 -6.26989344e+01] [-1.44767610e-02 1.50844591e-04 9.99895195e-01 -5.90132575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61862385300003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:288.46, Y:-62.71, Z:-5.89 [[ 9.74227073e-01 2.25148230e-01 1.37798908e-02 2.88455515e+02] [-2.25123314e-01 9.74324508e-01 -3.35350663e-03 -6.27068716e+01] [-1.41811215e-02 1.64902244e-04 9.99899429e-01 -5.89255530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.648623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.49, Y:-62.71, Z:-5.90 [[ 9.74351319e-01 2.24567377e-01 1.44568564e-02 2.88486297e+02] [-2.24539840e-01 9.74458547e-01 -3.52153710e-03 -6.27142371e+01] [-1.48784297e-02 1.85074085e-04 9.99889293e-01 -5.90229671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.52, Y:-62.72, Z:-5.90 [[ 9.74556533e-01 2.23662938e-01 1.46442793e-02 2.88517012e+02] [-2.23634556e-01 9.74666532e-01 -3.56884069e-03 -6.27216635e+01] [-1.50715063e-02 2.03070115e-04 9.99886398e-01 -5.90288070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.708623853 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:288.55, Y:-62.73, Z:-5.90 [[ 9.74614879e-01 2.23415413e-01 1.45392697e-02 2.88547833e+02] [-2.23387365e-01 9.74723299e-01 -3.54616910e-03 -6.27297024e+01] [-1.49640337e-02 2.08260034e-04 9.99888011e-01 -5.90343791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73862385300004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.58, Y:-62.74, Z:-5.90 [[ 9.74691830e-01 2.23092649e-01 1.43354882e-02 2.88579623e+02] [-2.23065326e-01 9.74797223e-01 -3.49785140e-03 -6.27376838e+01] [-1.47545390e-02 2.11576838e-04 9.99891123e-01 -5.90453465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.768623853 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:288.61, Y:-62.75, Z:-5.91 [[ 9.74673607e-01 2.23172299e-01 1.43347233e-02 2.88612123e+02] [-2.23144939e-01 9.74778990e-01 -3.50098277e-03 -6.27457672e+01] [-1.47545095e-02 2.13594545e-04 9.99891123e-01 -5.90518140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.64, Y:-62.75, Z:-5.91 [[ 9.74746691e-01 2.22902379e-01 1.35432018e-02 2.88644119e+02] [-2.22877925e-01 9.74840750e-01 -3.30814181e-03 -6.27543313e+01] [-1.39398577e-02 2.06119566e-04 9.99902814e-01 -5.90582148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.828623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.67, Y:-62.76, Z:-5.91 [[ 9.74770708e-01 2.22854629e-01 1.25650427e-02 2.88674775e+02] [-2.22833545e-01 9.74851669e-01 -3.07158169e-03 -6.27630189e+01] [-1.29335691e-02 1.94174838e-04 9.99916339e-01 -5.90707790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:288.71, Y:-62.77, Z:-5.91 [[ 9.74682098e-01 2.23246540e-01 1.24816165e-02 2.88706277e+02] [-2.23225738e-01 9.74761995e-01 -3.05345688e-03 -6.27712825e+01] [-1.28482790e-02 1.89931715e-04 9.99917439e-01 -5.90727969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.888623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.74, Y:-62.78, Z:-5.91 [[ 9.74528726e-01 2.23923788e-01 1.23247570e-02 2.88738643e+02] [-2.23903529e-01 9.74606641e-01 -3.01751908e-03 -6.27794412e+01] [-1.26874843e-02 1.81102433e-04 9.99919494e-01 -5.90791300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91862385300004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:288.77, Y:-62.79, Z:-5.91 [[ 9.74348093e-01 2.24722339e-01 1.20691335e-02 2.88770109e+02] [-2.24702942e-01 9.74422825e-01 -2.95740333e-03 -6.27872584e+01] [-1.24250338e-02 1.69570490e-04 9.99922792e-01 -5.90782283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.948623853 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:288.80, Y:-62.80, Z:-5.90 [[ 9.73841566e-01 2.26918490e-01 1.18575990e-02 2.88800872e+02] [-2.26899902e-01 9.73913743e-01 -2.90778816e-03 -6.27955552e+01] [-1.22081096e-02 1.41236915e-04 9.99925468e-01 -5.89876777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:288.83, Y:-62.80, Z:-5.91 [[ 9.73634383e-01 2.27774021e-01 1.24532404e-02 2.88832692e+02] [-2.27753559e-01 9.73714011e-01 -3.05622894e-03 -6.28032821e+01] [-1.28220243e-02 1.39379743e-04 9.99917785e-01 -5.90834606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.008623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:288.86, Y:-62.81, Z:-5.91 [[ 9.73392448e-01 2.28787247e-01 1.27881904e-02 2.88864890e+02] [-2.28765721e-01 9.73476439e-01 -3.14120953e-03 -6.28116544e+01] [-1.31676708e-02 1.32130033e-04 9.99913294e-01 -5.90921021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:288.90, Y:-62.82, Z:-5.91 [[ 9.73047524e-01 2.30213487e-01 1.34263237e-02 2.88895536e+02] [-2.30189850e-01 9.73140142e-01 -3.30110616e-03 -6.28193025e+01] [-1.38256537e-02 1.21529721e-04 9.99904414e-01 -5.90936751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.068623853 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:288.93, Y:-62.83, Z:-5.91 [[ 9.72828934e-01 2.31120917e-01 1.36742989e-02 2.88926060e+02] [-2.31096449e-01 9.72925027e-01 -3.36492336e-03 -6.28271977e+01] [-1.40817718e-02 1.13412877e-04 9.99900841e-01 -5.90946270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09862385300005 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:288.96, Y:-62.84, Z:-5.90 [[ 9.72617422e-01 2.32010691e-01 1.36524780e-02 2.88957724e+02] [-2.31986354e-01 9.72713230e-01 -3.36197518e-03 -6.28353016e+01] [-1.40599602e-02 1.02727027e-04 9.99901149e-01 -5.90156704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.128623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:288.99, Y:-62.84, Z:-5.91 [[ 9.72446578e-01 2.32686266e-01 1.43092303e-02 2.88989329e+02] [-2.32659557e-01 9.72551845e-01 -3.52688842e-03 -6.28427887e+01] [-1.47371269e-02 1.00531393e-04 9.99891398e-01 -5.91037360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.158623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.02, Y:-62.85, Z:-5.91 [[ 9.72136567e-01 2.34003683e-01 1.38842154e-02 2.89020142e+02] [-2.33978627e-01 9.72235707e-01 -3.42529704e-03 -6.28500794e+01] [-1.43002621e-02 8.12468511e-05 9.99897743e-01 -5.91131959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.188623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:289.05, Y:-62.86, Z:-5.91 [[ 9.71999815e-01 2.34584790e-01 1.36505147e-02 2.89051076e+02] [-2.34560608e-01 9.72095659e-01 -3.36906326e-03 -6.28582763e+01] [-1.40599371e-02 7.28558374e-05 9.99901152e-01 -5.91215280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.218623853 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:289.08, Y:-62.87, Z:-5.91 [[ 9.71870329e-01 2.35175988e-01 1.26617009e-02 2.89083458e+02] [-2.35155204e-01 9.71952803e-01 -3.12709574e-03 -6.28666550e+01] [-1.30419935e-02 6.16667058e-05 9.99914948e-01 -5.90586250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.248623853 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:289.12, Y:-62.87, Z:-5.90 [[ 9.71667578e-01 2.36047228e-01 1.19926475e-02 2.89115211e+02] [-2.36028622e-01 9.71741583e-01 -2.96406905e-03 -6.28746338e+01] [-1.23534146e-02 4.94817213e-05 9.99923692e-01 -5.90471796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.278623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.15, Y:-62.88, Z:-5.91 [[ 9.71559545e-01 2.36465229e-01 1.24998547e-02 2.89145955e+02] [-2.36445016e-01 9.71639950e-01 -3.09219640e-03 -6.28825581e+01] [-1.28765552e-02 4.87245825e-05 9.99917093e-01 -5.91474991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30862385300003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:289.18, Y:-62.89, Z:-5.91 [[ 9.71418900e-01 2.37069276e-01 1.19783231e-02 2.89177910e+02] [-2.37050734e-01 9.71492747e-01 -2.96520662e-03 -6.28907600e+01] [-1.23398134e-02 4.09874630e-05 9.99923861e-01 -5.90807144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.338623853 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:289.21, Y:-62.90, Z:-5.91 [[ 9.71331730e-01 2.37438398e-01 1.17336403e-02 2.89207937e+02] [-2.37420602e-01 9.71402597e-01 -2.90719052e-03 -6.28984498e+01] [-1.20883673e-02 3.80384588e-05 9.99926932e-01 -5.90562444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36862385300003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.24, Y:-62.91, Z:-5.92 [[ 9.71304728e-01 2.37496219e-01 1.27542731e-02 2.89238703e+02] [-2.37475164e-01 9.71388462e-01 -3.16263329e-03 -6.29055918e+01] [-1.31404671e-02 4.30575784e-05 9.99913659e-01 -5.91582349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.398623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.27, Y:-62.91, Z:-5.92 [[ 9.71288820e-01 2.37548890e-01 1.29827775e-02 2.89270503e+02] [-2.37527063e-01 9.71375583e-01 -3.22052326e-03 -6.29132205e+01] [-1.33761848e-02 4.42972190e-05 9.99910534e-01 -5.91577732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42862385300003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:289.30, Y:-62.92, Z:-5.92 [[ 9.71384010e-01 2.37142524e-01 1.32864004e-02 2.89302459e+02] [-2.37119588e-01 9.71474869e-01 -3.29855375e-03 -6.29211677e+01] [-1.36896315e-02 5.36965748e-05 9.99906291e-01 -5.91667179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.458623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.33, Y:-62.93, Z:-5.92 [[ 9.71765771e-01 2.35571462e-01 1.33181292e-02 2.89333829e+02] [-2.35548232e-01 9.71857027e-01 -3.30907197e-03 -6.29298486e+01] [-1.37228403e-02 7.85810948e-05 9.99905834e-01 -5.91720391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48862385300004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:289.37, Y:-62.94, Z:-5.91 [[ 9.72085215e-01 2.34271543e-01 1.29297862e-02 2.89365641e+02] [-2.34249499e-01 9.72171196e-01 -3.21518170e-03 -6.29384951e+01] [-1.33231913e-02 9.66346588e-05 9.99911238e-01 -5.91123782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.518623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.40, Y:-62.95, Z:-5.92 [[ 9.72359402e-01 2.33129563e-01 1.29537626e-02 2.89396654e+02] [-2.33107297e-01 9.72445677e-01 -3.22400996e-03 -6.29478124e+01] [-1.33484424e-02 1.15279817e-04 9.99910899e-01 -5.91859421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.43, Y:-62.96, Z:-5.92 [[ 9.72968798e-01 2.30597002e-01 1.25196417e-02 2.89428234e+02] [-2.30575965e-01 9.73049331e-01 -3.11828735e-03 -6.29576287e+01] [-1.29012967e-02 1.47267818e-04 9.99916764e-01 -5.91946909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.578623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.46, Y:-62.97, Z:-5.92 [[ 9.73299531e-01 2.29210701e-01 1.22669539e-02 2.89459487e+02] [-2.29190362e-01 9.73376817e-01 -3.05790605e-03 -6.29664116e+01] [-1.26412733e-02 1.64790923e-04 9.99920082e-01 -5.92019215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60862385300004 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:289.49, Y:-62.98, Z:-5.91 [[ 9.73560975e-01 2.28118276e-01 1.18777271e-02 2.89491631e+02] [-2.28099100e-01 9.73633412e-01 -2.96300671e-03 -6.29759201e+01] [-1.22404679e-02 1.75368856e-04 9.99925067e-01 -5.91348533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.52, Y:-62.99, Z:-5.92 [[ 9.73771327e-01 2.27198822e-01 1.22514782e-02 2.89522201e+02] [-2.27178313e-01 9.73848375e-01 -3.05892975e-03 -6.29852289e+01] [-1.26260674e-02 1.95427939e-04 9.99920269e-01 -5.92089579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.55, Y:-63.00, Z:-5.92 [[ 9.74312841e-01 2.24871549e-01 1.21356657e-02 2.89553594e+02] [-2.24851219e-01 9.74388390e-01 -3.03215060e-03 -6.29955869e+01] [-1.25066962e-02 2.25544043e-04 9.99921763e-01 -5.91821470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.698623853 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:289.59, Y:-63.01, Z:-5.91 [[ 9.74535720e-01 2.23914694e-01 1.19306565e-02 2.89585217e+02] [-2.23894944e-01 9.74608718e-01 -2.98331893e-03 -6.30056601e+01] [-1.22957308e-02 2.36137194e-04 9.99924377e-01 -5.91365973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72862385300004 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:289.62, Y:-63.02, Z:-5.92 [[ 9.74742630e-01 2.22984270e-01 1.24426986e-02 2.89615098e+02] [-2.22962676e-01 9.74822008e-01 -3.11416346e-03 -6.30155949e+01] [-1.28238259e-02 2.61250508e-04 9.99917737e-01 -5.92225866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.758623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.65, Y:-63.03, Z:-5.92 [[ 9.75120543e-01 2.21315754e-01 1.26199765e-02 2.89645562e+02] [-2.21293369e-01 9.75202160e-01 -3.16094653e-03 -6.30279975e+01] [-1.30065956e-02 2.89586786e-04 9.99915369e-01 -5.92263672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78862385300005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.68, Y:-63.04, Z:-5.92 [[ 9.75122828e-01 2.21304218e-01 1.26456739e-02 2.89676311e+02] [-2.21281706e-01 9.75204777e-01 -3.17004304e-03 -6.30379144e+01] [-1.30336655e-02 2.92925029e-04 9.99915015e-01 -5.92322609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.818623853 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.71, Y:-63.05, Z:-5.92 [[ 9.75125444e-01 2.21300269e-01 1.25124080e-02 2.89707699e+02] [-2.21278200e-01 9.75205674e-01 -3.13883525e-03 -6.30475804e+01] [-1.28967964e-02 2.92034988e-04 9.99916790e-01 -5.92391341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84862385300005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.74, Y:-63.06, Z:-5.92 [[ 9.74967743e-01 2.22007396e-01 1.22725445e-02 2.89739550e+02] [-2.21986190e-01 9.75044941e-01 -3.08116839e-03 -6.30577055e+01] [-1.26503246e-02 2.79704392e-04 9.99919942e-01 -5.91964171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.878623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.77, Y:-63.07, Z:-5.92 [[ 9.74749498e-01 2.22969059e-01 1.21743921e-02 2.89770129e+02] [-2.22948233e-01 9.74825485e-01 -3.05912427e-03 -6.30675626e+01] [-1.25499977e-02 2.67620644e-04 9.99921210e-01 -5.92490598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.908623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.80, Y:-63.08, Z:-5.93 [[ 9.74107611e-01 2.25765050e-01 1.20209885e-02 2.89801347e+02] [-2.25744931e-01 9.74181754e-01 -3.02279306e-03 -6.30794945e+01] [-1.23930687e-02 2.30848504e-04 9.99923176e-01 -5.92541856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.938623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.83, Y:-63.09, Z:-5.93 [[ 9.73644970e-01 2.27747810e-01 1.20998868e-02 2.89832128e+02] [-2.27727541e-01 9.73720130e-01 -3.04569674e-03 -6.30892827e+01] [-1.24755541e-02 2.09949857e-04 9.99922155e-01 -5.92567814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.968623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.86, Y:-63.10, Z:-5.93 [[ 9.73104179e-01 2.30045443e-01 1.21388516e-02 2.89863572e+02] [-2.30025208e-01 9.73179871e-01 -3.05658074e-03 -6.30991133e+01] [-1.25164385e-02 1.82129635e-04 9.99921650e-01 -5.92602907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.89, Y:-63.11, Z:-5.93 [[ 9.71984314e-01 2.34723379e-01 1.23056119e-02 2.89893899e+02] [-2.34702925e-01 9.72062199e-01 -3.10125481e-03 -6.31088204e+01] [-1.26897572e-02 1.26207929e-04 9.99919474e-01 -5.92642907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.028623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:289.93, Y:-63.12, Z:-5.93 [[ 9.71376075e-01 2.37221357e-01 1.24317591e-02 2.89925999e+02] [-2.37200654e-01 9.71455618e-01 -3.13545753e-03 -6.31179750e+01] [-1.28206998e-02 9.68870266e-05 9.99917807e-01 -5.92697717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05862385300003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.96, Y:-63.13, Z:-5.93 [[ 9.70845236e-01 2.39388047e-01 1.23648764e-02 2.89957605e+02] [-2.39367712e-01 9.70923971e-01 -3.12094136e-03 -6.31269531e+01] [-1.27524709e-02 7.01988823e-05 9.99918681e-01 -5.92765017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.088623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.99, Y:-63.14, Z:-5.93 [[ 9.69703747e-01 2.43985277e-01 1.20758803e-02 2.89988203e+02] [-2.43966206e-01 9.69778936e-01 -3.05050177e-03 -6.31367196e+01] [-1.24552119e-02 1.19762819e-05 9.99922431e-01 -5.92797343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11862385300003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.02, Y:-63.15, Z:-5.93 [[ 9.69132048e-01 2.46260863e-01 1.17754793e-02 2.90019230e+02] [-2.46242870e-01 9.69203584e-01 -2.97685880e-03 -6.31450070e+01] [-1.21459206e-02 -1.46585602e-05 9.99926235e-01 -5.92850945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.148623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:290.05, Y:-63.15, Z:-5.93 [[ 9.68662372e-01 2.48101391e-01 1.17859604e-02 2.90051001e+02] [-2.48083477e-01 9.68734070e-01 -2.98160466e-03 -6.31531134e+01] [-1.21572016e-02 -3.57337849e-05 9.99926098e-01 -5.92934996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17862385300003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.08, Y:-63.16, Z:-5.93 [[ 9.67775539e-01 2.51528769e-01 1.19910295e-02 2.90083163e+02] [-2.51510459e-01 9.67849819e-01 -3.03593449e-03 -6.31617843e+01] [-1.23691406e-02 -7.77661916e-05 9.99923496e-01 -5.92919957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.208623853 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:290.12, Y:-63.17, Z:-5.92 [[ 9.67405295e-01 2.52967270e-01 1.15998202e-02 2.90115740e+02] [-2.52950213e-01 9.67474833e-01 -2.93903548e-03 -6.31695752e+01] [-1.19660139e-02 -9.09385125e-05 9.99928401e-01 -5.91977837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.15, Y:-63.18, Z:-5.93 [[ 9.67053561e-01 2.54279865e-01 1.22130937e-02 2.90146782e+02] [-2.54261020e-01 9.67130673e-01 -3.09760718e-03 -6.31772732e+01] [-1.25993167e-02 -1.09761607e-04 9.99920619e-01 -5.92992902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.268623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.18, Y:-63.18, Z:-5.93 [[ 9.66736805e-01 2.55470827e-01 1.24340538e-02 2.90178039e+02] [-2.55451372e-01 9.66816757e-01 -3.15530555e-03 -6.31848851e+01] [-1.28275401e-02 -1.25946092e-04 9.99917716e-01 -5.93047405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.21, Y:-63.19, Z:-5.93 [[ 9.66404604e-01 2.56725534e-01 1.24153437e-02 2.90209972e+02] [-2.56706228e-01 9.66484340e-01 -3.15156489e-03 -6.31922234e+01] [-1.28083225e-02 -1.41409242e-04 9.99917960e-01 -5.93054366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.328623853 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:290.24, Y:-63.20, Z:-5.92 [[ 9.66241415e-01 2.57359856e-01 1.19763447e-02 2.90242403e+02] [-2.57341912e-01 9.66315623e-01 -3.04241162e-03 -6.31994772e+01] [-1.23559237e-02 -1.42311353e-04 9.99923653e-01 -5.92318524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.27, Y:-63.21, Z:-5.93 [[ 9.66173851e-01 2.57597403e-01 1.23153382e-02 2.90274602e+02] [-2.57578415e-01 9.66252325e-01 -3.13110452e-03 -6.32067978e+01] [-1.27062885e-02 -1.46973965e-04 9.99919261e-01 -5.93174569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.388623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:290.31, Y:-63.21, Z:-5.93 [[ 9.66131427e-01 2.57790101e-01 1.15900563e-02 2.90305659e+02] [-2.57773271e-01 9.66200934e-01 -2.94891444e-03 -6.32130374e+01] [-1.19585241e-02 -1.38567801e-04 9.99928485e-01 -5.93270113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.34, Y:-63.22, Z:-5.93 [[ 9.66146696e-01 2.57741552e-01 1.13953439e-02 2.90337246e+02] [-2.57725255e-01 9.66213886e-01 -2.90145735e-03 -6.32199371e+01] [-1.17581657e-02 -1.33634495e-04 9.99930861e-01 -5.93354486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.448623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.37, Y:-63.23, Z:-5.93 [[ 9.66232122e-01 2.57433527e-01 1.11115042e-02 2.90369384e+02] [-2.57417990e-01 9.66296002e-01 -2.83104579e-03 -6.32271356e+01] [-1.14658082e-02 -1.24853694e-04 9.99934258e-01 -5.93428218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.40, Y:-63.23, Z:-5.93 [[ 9.66516616e-01 2.56355031e-01 1.13017569e-02 2.90401726e+02] [-2.56338857e-01 9.66582684e-01 -2.88182500e-03 -6.32336251e+01] [-1.16628529e-02 -1.11747700e-04 9.99931980e-01 -5.93397843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.508623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.43, Y:-63.24, Z:-5.93 [[ 9.66673101e-01 2.55755083e-01 1.15088222e-02 2.90434254e+02] [-2.55738240e-01 9.66741603e-01 -2.93697952e-03 -6.32406649e+01] [-1.18772046e-02 -1.04146826e-04 9.99929458e-01 -5.93449027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.47, Y:-63.25, Z:-5.93 [[ 9.66811319e-01 2.55226637e-01 1.16291311e-02 2.90465729e+02] [-2.55209371e-01 9.66881252e-01 -2.97021112e-03 -6.32471730e+01] [-1.20020658e-02 -9.62294961e-05 9.99927968e-01 -5.93478602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.568623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.50, Y:-63.25, Z:-5.93 [[ 9.67196397e-01 2.53746118e-01 1.20015479e-02 2.90498480e+02] [-2.53727586e-01 9.67270852e-01 -3.06766816e-03 -6.32521147e+01] [-1.23871564e-02 -7.80861914e-05 9.99923273e-01 -5.93499075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.53, Y:-63.26, Z:-5.94 [[ 9.67397247e-01 2.52981921e-01 1.19462707e-02 2.90529665e+02] [-2.52963465e-01 9.67471004e-01 -3.05653514e-03 -6.32586473e+01] [-1.23309186e-02 -6.50863448e-05 9.99923969e-01 -5.93528434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.628623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.56, Y:-63.27, Z:-5.94 [[ 9.67617670e-01 2.52146879e-01 1.17471574e-02 2.90561195e+02] [-2.52128952e-01 9.67688973e-01 -3.00708635e-03 -6.32651256e+01] [-1.21258221e-02 -5.20886077e-05 9.99926478e-01 -5.93591170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.59, Y:-63.27, Z:-5.94 [[ 9.67825632e-01 2.51354457e-01 1.15966655e-02 2.90592178e+02] [-2.51336913e-01 9.67895105e-01 -2.97002548e-03 -6.32715054e+01] [-1.19708849e-02 -4.02033292e-05 9.99928346e-01 -5.93630735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.688623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.63, Y:-63.28, Z:-5.94 [[ 9.68283816e-01 2.49580901e-01 1.16543807e-02 2.90625031e+02] [-2.49563042e-01 9.68353950e-01 -2.98576330e-03 -6.32761838e+01] [-1.20307551e-02 -1.74364253e-05 9.99927628e-01 -5.93669207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.718623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:290.66, Y:-63.28, Z:-5.94 [[ 9.68262693e-01 2.49662874e-01 1.16536073e-02 2.90657436e+02] [-2.49644984e-01 9.68332819e-01 -2.98877833e-03 -6.32846365e+01] [-1.20307574e-02 -1.53420634e-05 9.99927628e-01 -5.93733886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.748623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.69, Y:-63.29, Z:-5.94 [[ 9.68404890e-01 2.49103279e-01 1.18120799e-02 2.90689401e+02] [-2.49084854e-01 9.68476926e-01 -3.02971987e-03 -6.32911970e+01] [-1.21944400e-02 -8.21466801e-06 9.99925645e-01 -5.93790268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.778623853 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:290.72, Y:-63.30, Z:-5.93 [[ 9.68594261e-01 2.48370800e-01 1.17091090e-02 2.90721052e+02] [-2.48352606e-01 9.68665033e-01 -3.00621678e-03 -6.32970236e+01] [-1.20888609e-02 3.81658956e-06 9.99926927e-01 -5.92939275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80862385300003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:290.75, Y:-63.30, Z:-5.94 [[ 9.68839417e-01 2.47343184e-01 1.30970475e-02 2.90753885e+02] [-2.47320307e-01 9.68927938e-01 -3.36408220e-03 -6.33017753e+01] [-1.35221781e-02 2.00896318e-05 9.99908571e-01 -5.93889918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.79, Y:-63.31, Z:-5.94 [[ 9.68997520e-01 2.46707429e-01 1.33884341e-02 2.90786235e+02] [-2.46683423e-01 9.69090008e-01 -3.44172997e-03 -6.33083804e+01] [-1.38236980e-02 3.23230627e-05 9.99904448e-01 -5.93950213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.82, Y:-63.31, Z:-5.94 [[ 9.69133636e-01 2.46182975e-01 1.31885777e-02 2.90818502e+02] [-2.46159594e-01 9.69223370e-01 -3.39304930e-03 -6.33149613e+01] [-1.36179887e-02 4.18232602e-05 9.99907270e-01 -5.93991521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.898623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.85, Y:-63.32, Z:-5.94 [[ 9.69245769e-01 2.45762038e-01 1.27929438e-02 2.90851405e+02] [-2.45739969e-01 9.69330191e-01 -3.29380466e-03 -6.33213187e+01] [-1.32100788e-02 4.87686111e-05 9.99912742e-01 -5.94043545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92862385300003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:290.88, Y:-63.33, Z:-5.93 [[ 9.69543702e-01 2.44643001e-01 1.16108861e-02 2.90884077e+02] [-2.44624715e-01 9.69613221e-01 -2.99171300e-03 -6.33250305e+01] [-1.19899703e-02 6.02868069e-05 9.99928116e-01 -5.93266808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.92, Y:-63.33, Z:-5.94 [[ 9.69638158e-01 2.44241620e-01 1.21603498e-02 2.90915452e+02] [-2.44221501e-01 9.69714404e-01 -3.13564614e-03 -6.33314085e+01] [-1.25579217e-02 7.06232658e-05 9.99921144e-01 -5.94233651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98862385300004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:290.95, Y:-63.34, Z:-5.93 [[ 9.69758998e-01 2.43782053e-01 1.17386353e-02 2.90947310e+02] [-2.43763248e-01 9.69830039e-01 -3.02893201e-03 -6.33375332e+01] [-1.21228804e-02 7.58862067e-05 9.99926512e-01 -5.93423835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.98, Y:-63.34, Z:-5.94 [[ 9.69886703e-01 2.43257324e-01 1.20688771e-02 2.90978497e+02] [-2.43237376e-01 9.69961786e-01 -3.11644124e-03 -6.33441872e+01] [-1.24644468e-02 8.69929129e-05 9.99922312e-01 -5.94315058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.01, Y:-63.35, Z:-5.94 [[ 9.70176475e-01 2.42100237e-01 1.20449890e-02 2.91009026e+02] [-2.42080250e-01 9.70251238e-01 -3.11257784e-03 -6.33489082e+01] [-1.24402213e-02 1.03895846e-04 9.99922612e-01 -5.94367681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.04, Y:-63.36, Z:-5.94 [[ 9.70245666e-01 2.41816325e-01 1.21743082e-02 2.91039319e+02] [-2.41795845e-01 9.70322036e-01 -3.14903594e-03 -6.33551408e+01] [-1.25744878e-02 1.11641339e-04 9.99920932e-01 -5.94469141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.07, Y:-63.36, Z:-5.95 [[ 9.70333048e-01 2.41487745e-01 1.17236783e-02 2.91068508e+02] [-2.41468724e-01 9.70403862e-01 -3.03302914e-03 -6.33607700e+01] [-1.21091421e-02 1.12146774e-04 9.99926675e-01 -5.94519555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.10, Y:-63.37, Z:-5.95 [[ 9.70371311e-01 2.41367255e-01 1.10166703e-02 2.91098221e+02] [-2.41350453e-01 9.70433840e-01 -2.84989402e-03 -6.33664078e+01] [-1.13788208e-02 1.06577023e-04 9.99935253e-01 -5.94597373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.13, Y:-63.37, Z:-5.95 [[ 9.70384684e-01 2.41329385e-01 1.06626620e-02 2.91127038e+02] [-2.41313642e-01 9.70443258e-01 -2.75841908e-03 -6.33707855e+01] [-1.10131960e-02 1.03681830e-04 9.99939348e-01 -5.94746156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.198623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.16, Y:-63.38, Z:-5.95 [[ 9.70387877e-01 2.41316129e-01 1.06721542e-02 2.91156894e+02] [-2.41300360e-01 9.70446554e-01 -2.76063400e-03 -6.33772923e+01] [-1.10229408e-02 1.03691099e-04 9.99939240e-01 -5.94804589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.19, Y:-63.38, Z:-5.95 [[ 9.70362096e-01 2.41411378e-01 1.08604764e-02 2.91186257e+02] [-2.41395053e-01 9.70422864e-01 -2.80934849e-03 -6.33836248e+01] [-1.12174633e-02 1.04420007e-04 9.99937077e-01 -5.94852780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.22, Y:-63.39, Z:-5.95 [[ 9.70313825e-01 2.41584158e-01 1.13215013e-02 2.91215506e+02] [-2.41566428e-01 9.70379865e-01 -2.92879719e-03 -6.33898478e+01] [-1.16937079e-02 1.06957779e-04 9.99931621e-01 -5.94968138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28862385300005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:291.25, Y:-63.39, Z:-5.94 [[ 9.70232255e-01 2.41930331e-01 1.09126197e-02 2.91245410e+02] [-2.41913883e-01 9.70293618e-01 -2.82275496e-03 -6.33940047e+01] [-1.12713553e-02 9.88137054e-05 9.99936471e-01 -5.94498904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.318623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.27, Y:-63.40, Z:-5.95 [[ 9.69999496e-01 2.42859481e-01 1.09658845e-02 2.91273364e+02] [-2.42842934e-01 9.70061475e-01 -2.83634220e-03 -6.33999540e+01] [-1.13264147e-02 8.82629393e-05 9.99935850e-01 -5.95115496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.30, Y:-63.41, Z:-5.95 [[ 9.69734089e-01 2.43929861e-01 1.06779548e-02 2.91301140e+02] [-2.43914239e-01 9.69792873e-01 -2.76167201e-03 -6.34055672e+01] [-1.10290587e-02 7.35822753e-05 9.99939175e-01 -5.95228852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.378623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.33, Y:-63.41, Z:-5.95 [[ 9.69264416e-01 2.45816758e-01 1.00306628e-02 2.91330382e+02] [-2.45803083e-01 9.69316315e-01 -2.59336021e-03 -6.34100528e+01] [-1.03603765e-02 4.80839428e-05 9.99946329e-01 -5.95416036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.36, Y:-63.42, Z:-5.95 [[ 9.68989371e-01 2.46915440e-01 9.61062349e-03 2.91358054e+02] [-2.46902938e-01 9.69037029e-01 -2.48491186e-03 -6.34153891e+01] [-9.92661315e-03 3.49620033e-05 9.99950729e-01 -5.95494474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.39, Y:-63.42, Z:-5.96 [[ 9.68767707e-01 2.47796879e-01 9.26484303e-03 2.91385692e+02] [-2.47785307e-01 9.68812008e-01 -2.39488457e-03 -6.34207193e+01] [-9.56933610e-03 2.43948639e-05 9.99954213e-01 -5.95574124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.468623853 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:291.41, Y:-63.42, Z:-5.95 [[ 9.68516941e-01 2.48837385e-01 7.40883360e-03 2.91414741e+02] [-2.48830019e-01 9.68545278e-01 -1.91473207e-03 -6.34230260e+01] [-7.65224772e-03 1.09102403e-05 9.99970721e-01 -5.94856864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.498623853 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:291.44, Y:-63.43, Z:-5.95 [[ 9.68464751e-01 2.49059173e-01 6.74945192e-03 2.91443280e+02] [-2.49053067e-01 9.68488269e-01 -1.74405889e-03 -6.34283823e+01] [-6.97113888e-03 8.08785545e-06 9.99975701e-01 -5.94955469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.528623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.47, Y:-63.43, Z:-5.96 [[ 9.68403075e-01 2.49296761e-01 6.82702419e-03 2.91470558e+02] [-2.49290521e-01 9.68427140e-01 -1.76388998e-03 -6.34345238e+01] [-7.05120756e-03 6.24406677e-06 9.99975140e-01 -5.95957658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.50, Y:-63.44, Z:-5.96 [[ 9.68475992e-01 2.49023742e-01 6.43656863e-03 2.91497583e+02] [-2.49018192e-01 9.68497380e-01 -1.66265410e-03 -6.34399171e+01] [-6.64784020e-03 7.41789479e-06 9.99977903e-01 -5.96021136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.588623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.53, Y:-63.44, Z:-5.96 [[ 9.68625077e-01 2.48440592e-01 6.53694818e-03 2.91525224e+02] [-2.48434856e-01 9.68647135e-01 -1.68828190e-03 -6.34431984e+01] [-6.75143388e-03 1.13064037e-05 9.99977209e-01 -5.96132241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.55, Y:-63.45, Z:-5.96 [[ 9.68802115e-01 2.47748557e-01 6.56615564e-03 2.91552594e+02] [-2.47742757e-01 9.68824366e-01 -1.69533211e-03 -6.34484134e+01] [-6.78146766e-03 1.57238354e-05 9.99977005e-01 -5.96193062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.648623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:291.58, Y:-63.45, Z:-5.96 [[ 9.68982460e-01 2.47039613e-01 6.66496628e-03 2.91580343e+02] [-2.47033623e-01 9.69005382e-01 -1.72034347e-03 -6.34542188e+01] [-6.88338118e-03 2.05118806e-05 9.99976309e-01 -5.96282386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.61, Y:-63.46, Z:-5.96 [[ 9.69488179e-01 2.45058026e-01 6.26377568e-03 2.91608353e+02] [-2.45052698e-01 9.69508413e-01 -1.61640154e-03 -6.34593424e+01] [-6.46889539e-03 3.21270583e-05 9.99979076e-01 -5.96415626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.708623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.64, Y:-63.47, Z:-5.97 [[ 9.69853292e-01 2.43618333e-01 5.89069427e-03 2.91635947e+02] [-2.43613596e-01 9.69871180e-01 -1.51958595e-03 -6.34653277e+01] [-6.08341360e-03 3.87222225e-05 9.99981495e-01 -5.96508188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:291.65, Y:-63.50, Z:-5.96 [[ 9.57828791e-01 2.87176772e-01 9.66998922e-03 2.91654711e+02] [-2.87166211e-01 9.57877524e-01 -2.49334524e-03 -6.35005067e+01] [-9.97869617e-03 -3.88696316e-04 9.99950136e-01 -5.95833746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.768623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.68, Y:-63.50, Z:-5.96 [[ 9.58130684e-01 2.86132501e-01 1.06669818e-02 2.91682325e+02] [-2.86119599e-01 9.58189969e-01 -2.74924185e-03 -6.35026323e+01] [-1.10076424e-02 -4.17899571e-04 9.99939327e-01 -5.95903533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.71, Y:-63.51, Z:-5.96 [[ 9.58526205e-01 2.84797837e-01 1.08492110e-02 2.91709643e+02] [-2.84784416e-01 9.58587515e-01 -2.79517946e-03 -6.35070755e+01] [-1.11959792e-02 -4.10433443e-04 9.99937239e-01 -5.95903505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.828623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.74, Y:-63.51, Z:-5.96 [[ 9.59671815e-01 2.80874397e-01 1.18144301e-02 2.91737460e+02] [-2.80858196e-01 9.59744453e-01 -3.04283276e-03 -6.35097273e+01] [-1.21934876e-02 -3.98058697e-04 9.99925577e-01 -5.95915132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.77, Y:-63.51, Z:-5.96 [[ 9.60337223e-01 2.78564576e-01 1.24175128e-02 2.91765356e+02] [-2.78546496e-01 9.60417423e-01 -3.19732027e-03 -6.35148101e+01] [-1.28166558e-02 -3.88349006e-04 9.99917788e-01 -5.96013159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.888623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:-63.52, Z:-5.96 [[ 9.61195469e-01 2.75582886e-01 1.25436618e-02 2.91792980e+02] [-2.75564195e-01 9.61277248e-01 -3.22899920e-03 -6.35196936e+01] [-1.29477937e-02 -3.52884673e-04 9.99916112e-01 -5.96014168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.82, Y:-63.52, Z:-5.96 [[ 9.62125729e-01 2.72318522e-01 1.25181763e-02 2.91819370e+02] [-2.72299638e-01 9.62207113e-01 -3.22180278e-03 -6.35247883e+01] [-1.29224348e-02 -3.08915512e-04 9.99916454e-01 -5.96101411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.948623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.85, Y:-63.53, Z:-5.96 [[ 9.64313102e-01 2.64486219e-01 1.21359332e-02 2.91846854e+02] [-2.64467863e-01 9.64389444e-01 -3.12230320e-03 -6.35293878e+01] [-1.25295721e-02 -1.98686452e-04 9.99921482e-01 -5.96156699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:-63.54, Z:-5.96 [[ 9.65418909e-01 2.60427400e-01 1.19958525e-02 2.91874241e+02] [-2.60409160e-01 9.65493422e-01 -3.08562133e-03 -6.35358144e+01] [-1.23854970e-02 -1.44912680e-04 9.99923286e-01 -5.96233053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.008623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.90, Y:-63.54, Z:-5.96 [[ 9.66546858e-01 2.56212945e-01 1.19204595e-02 2.91901154e+02] [-2.56194626e-01 9.66620359e-01 -3.06517477e-03 -6.35424344e+01] [-1.23078963e-02 -9.13226229e-05 9.99924251e-01 -5.96337922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.93, Y:-63.55, Z:-5.96 [[ 9.68648967e-01 2.48135207e-01 1.21695814e-02 2.91928650e+02] [-2.48115483e-01 9.68725409e-01 -3.12860428e-03 -6.35497390e+01] [-1.25652996e-02 1.10577339e-05 9.99921053e-01 -5.96375052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.068623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.96, Y:-63.56, Z:-5.96 [[ 9.69583067e-01 2.44433286e-01 1.26903337e-02 2.91956686e+02] [-2.44411529e-01 9.69666110e-01 -3.26182080e-03 -6.35565037e+01] [-1.31026841e-02 6.09423593e-05 9.99914154e-01 -5.96411924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.98, Y:-63.56, Z:-5.96 [[ 9.70451781e-01 2.40951422e-01 1.28745212e-02 2.91984668e+02] [-2.40928731e-01 9.70537171e-01 -3.30851297e-03 -6.35629891e+01] [-1.32923923e-02 1.08910245e-04 9.99911646e-01 -5.96483279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.128623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.01, Y:-63.57, Z:-5.97 [[ 9.71869286e-01 2.35175521e-01 1.27501408e-02 2.92013064e+02] [-2.35152778e-01 9.71952900e-01 -3.27581106e-03 -6.35695444e+01] [-1.31629269e-02 1.85429120e-04 9.99913348e-01 -5.96583299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.04, Y:-63.58, Z:-5.97 [[ 9.72418015e-01 2.32908588e-01 1.25217091e-02 2.92042159e+02] [-2.32886472e-01 9.72498609e-01 -3.21656412e-03 -6.35767817e+01] [-1.29265101e-02 2.11708252e-04 9.99916427e-01 -5.96673292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.188623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.07, Y:-63.58, Z:-5.97 [[ 9.72876249e-01 2.31009993e-01 1.20908098e-02 2.92070047e+02] [-2.30989229e-01 9.72951351e-01 -3.10566224e-03 -6.35840877e+01] [-1.24812088e-02 2.28578193e-04 9.99922081e-01 -5.96724512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.218623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.10, Y:-63.59, Z:-5.97 [[ 9.73607795e-01 2.27936976e-01 1.15150240e-02 2.92097759e+02] [-2.27917932e-01 9.73675855e-01 -2.95742871e-03 -6.35917480e+01] [-1.18860082e-02 2.54895192e-04 9.99929326e-01 -5.96792386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.248623853 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:292.13, Y:-63.60, Z:-5.96 [[ 9.73831059e-01 2.26992409e-01 1.12922720e-02 2.92125052e+02] [-2.26974036e-01 9.73896492e-01 -2.89977925e-03 -6.35981763e+01] [-1.16557320e-02 2.60842530e-04 9.99932036e-01 -5.95947639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.278623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.15, Y:-63.61, Z:-5.97 [[ 9.73972905e-01 2.26355300e-01 1.18346200e-02 2.92151960e+02] [-2.26335083e-01 9.74044763e-01 -3.03817807e-03 -6.36057180e+01] [-1.22151573e-02 2.80513427e-04 9.99925353e-01 -5.96832549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.18, Y:-63.61, Z:-5.97 [[ 9.74018447e-01 2.26151103e-01 1.19892787e-02 2.92179569e+02] [-2.26130349e-01 9.74092191e-01 -3.07709917e-03 -6.36127857e+01] [-1.23745521e-02 2.86011586e-04 9.99923391e-01 -5.96859613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.338623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:-63.62, Z:-5.97 [[ 9.73910460e-01 2.26593910e-01 1.23942071e-02 2.92208704e+02] [-2.26571776e-01 9.73989280e-01 -3.18023132e-03 -6.36199421e+01] [-1.27924459e-02 2.89083041e-04 9.99918132e-01 -5.96939186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:292.24, Y:-63.63, Z:-5.96 [[ 9.73848616e-01 2.26879712e-01 1.20195160e-02 2.92236762e+02] [-2.26858921e-01 9.73922748e-01 -3.08382373e-03 -6.36264206e+01] [-1.24057371e-02 2.76443050e-04 9.99923008e-01 -5.96298592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.398623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.27, Y:-63.63, Z:-5.97 [[ 9.73706537e-01 2.27441820e-01 1.28762869e-02 2.92265688e+02] [-2.27418014e-01 9.73791628e-01 -3.30321191e-03 -6.36344539e+01] [-1.32901089e-02 2.88059434e-04 9.99911641e-01 -5.97034765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.29, Y:-63.64, Z:-5.97 [[ 9.73325575e-01 2.29014132e-01 1.37787269e-02 2.92294142e+02] [-2.28987035e-01 9.73423056e-01 -3.53432558e-03 -6.36414594e+01] [-1.42219409e-02 2.84899661e-04 9.99898822e-01 -5.97133760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.458623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.32, Y:-63.65, Z:-5.97 [[ 9.73101878e-01 2.29972120e-01 1.36219964e-02 2.92321689e+02] [-2.29945734e-01 9.73197181e-01 -3.49384240e-03 -6.36481766e+01] [-1.40603748e-02 2.67544638e-04 9.99901112e-01 -5.97138957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.35, Y:-63.66, Z:-5.97 [[ 9.72817171e-01 2.31174981e-01 1.35970199e-02 2.92350366e+02] [-2.31148818e-01 9.72912157e-01 -3.48684609e-03 -6.36552609e+01] [-1.40347775e-02 2.49128673e-04 9.99901477e-01 -5.97248974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.518623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.38, Y:-63.66, Z:-5.97 [[ 9.72183983e-01 2.33855997e-01 1.30259668e-02 2.92378952e+02] [-2.33832228e-01 9.72271223e-01 -3.34023456e-03 -6.36617729e+01] [-1.34459066e-02 2.01431687e-04 9.99909579e-01 -5.97337195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:-63.67, Z:-5.97 [[ 9.71807592e-01 2.35432321e-01 1.27132522e-02 2.92405996e+02] [-2.35409821e-01 9.71890730e-01 -3.25948851e-03 -6.36683580e+01] [-1.31232810e-02 1.74771237e-04 9.99913871e-01 -5.97432445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.578623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.43, Y:-63.68, Z:-5.98 [[ 9.71401859e-01 2.37120385e-01 1.23430515e-02 2.92434200e+02] [-2.37099324e-01 9.71480263e-01 -3.16372617e-03 -6.36756238e+01] [-1.27412149e-02 1.46720317e-04 9.99918817e-01 -5.97526780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.46, Y:-63.68, Z:-5.98 [[ 9.71410333e-01 2.37085658e-01 1.23432210e-02 2.92462631e+02] [-2.37064603e-01 9.71488739e-01 -3.16306494e-03 -6.36828226e+01] [-1.27412175e-02 1.46493193e-04 9.99918817e-01 -5.97583367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.638623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:292.49, Y:-63.69, Z:-5.98 [[ 9.70963653e-01 2.38917775e-01 1.21606729e-02 2.92489557e+02] [-2.38897485e-01 9.71039794e-01 -3.11599636e-03 -6.36898114e+01] [-1.25529643e-02 1.20365021e-04 9.99921201e-01 -5.97668156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.52, Y:-63.70, Z:-5.98 [[ 9.70063698e-01 2.42578359e-01 1.14961377e-02 2.92517054e+02] [-2.42560490e-01 9.70131813e-01 -2.94505436e-03 -6.36955663e+01] [-1.18671753e-02 6.83815366e-05 9.99929580e-01 -5.97773625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.698623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.54, Y:-63.70, Z:-5.98 [[ 9.69600356e-01 2.44421754e-01 1.15392955e-02 2.92544859e+02] [-2.44403892e-01 9.69669018e-01 -2.95530582e-03 -6.37014906e+01] [-1.19116383e-02 4.52168624e-05 9.99929053e-01 -5.97880333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72862385300004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:292.57, Y:-63.71, Z:-5.97 [[ 9.69148241e-01 2.46222410e-01 1.12343862e-02 2.92572636e+02] [-2.46205605e-01 9.69213353e-01 -2.87674991e-03 -6.37068498e+01] [-1.15968374e-02 2.20282579e-05 9.99932754e-01 -5.97307600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.758623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.60, Y:-63.71, Z:-5.98 [[ 9.68074404e-01 2.50401811e-01 1.14403166e-02 2.92600238e+02] [-2.50384685e-01 9.68142000e-01 -2.92870433e-03 -6.37123752e+01] [-1.18092039e-02 -2.92763778e-05 9.99930268e-01 -5.98002909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:-63.72, Z:-5.98 [[ 9.67561407e-01 2.52374371e-01 1.14934825e-02 2.92627277e+02] [-2.52357232e-01 9.67629668e-01 -2.94167362e-03 -6.37180350e+01] [-1.18638377e-02 -5.42135673e-05 9.99929621e-01 -5.98091850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.818623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:-63.72, Z:-5.98 [[ 9.67138628e-01 2.53992531e-01 1.14310079e-02 2.92653651e+02] [-2.53975698e-01 9.67206177e-01 -2.92509421e-03 -6.37231828e+01] [-1.17990935e-02 -7.42265924e-05 9.99930386e-01 -5.98094140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.68, Y:-63.73, Z:-5.98 [[ 9.66748044e-01 2.55463822e-01 1.16814331e-02 2.92680718e+02] [-2.55446369e-01 9.66818611e-01 -2.98763470e-03 -6.37285914e+01] [-1.20570595e-02 -9.56896620e-05 9.99927306e-01 -5.98108426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.878623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:-63.73, Z:-5.98 [[ 9.65944082e-01 2.58435679e-01 1.27683400e-02 2.92708040e+02] [-2.58415100e-01 9.66028456e-01 -3.26457841e-03 -6.37320323e+01] [-1.31782633e-02 -1.46131647e-04 9.99913152e-01 -5.98123009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.73, Y:-63.74, Z:-5.98 [[ 9.65541616e-01 2.59909715e-01 1.32788481e-02 2.92734454e+02] [-2.59887614e-01 9.65632906e-01 -3.39384206e-03 -6.37364514e+01] [-1.37045852e-02 -1.74112390e-04 9.99906073e-01 -5.98094824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.938623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.76, Y:-63.74, Z:-5.98 [[ 9.65186243e-01 2.61177605e-01 1.42047615e-02 2.92761729e+02] [-2.61152472e-01 9.65290742e-01 -3.62909112e-03 -6.37408519e+01] [-1.46595621e-02 -2.06859766e-04 9.99892521e-01 -5.98189849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.968623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:-63.74, Z:-5.98 [[ 9.64644952e-01 2.63152669e-01 1.45185932e-02 2.92790334e+02] [-2.63126656e-01 9.64754173e-01 -3.70801458e-03 -6.37429994e+01] [-1.49826473e-02 -2.43311328e-04 9.99887724e-01 -5.98256899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.998623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.82, Y:-63.75, Z:-5.98 [[ 9.64503263e-01 2.63704108e-01 1.39139565e-02 2.92817427e+02] [-2.63680285e-01 9.64603589e-01 -3.55282575e-03 -6.37473520e+01] [-1.43583472e-02 -2.42123995e-04 9.99896884e-01 -5.98282733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.028623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:-63.75, Z:-5.98 [[ 9.64464481e-01 2.63863540e-01 1.35756258e-02 2.92844159e+02] [-2.63840894e-01 9.64559990e-01 -3.46524179e-03 -6.37518252e+01] [-1.40088565e-02 -2.39702638e-04 9.99901842e-01 -5.98372543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:-63.76, Z:-5.99 [[ 9.64640703e-01 2.63259319e-01 1.27610874e-02 2.92872084e+02] [-2.63239270e-01 9.64725082e-01 -3.25625647e-03 -6.37553043e+01] [-1.31681809e-02 -2.18101803e-04 9.99913272e-01 -5.98563680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.088623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.90, Y:-63.76, Z:-5.99 [[ 9.64965317e-01 2.62101278e-01 1.20356934e-02 2.92898812e+02] [-2.62083363e-01 9.65040353e-01 -3.07039939e-03 -6.37602717e+01] [-1.24196854e-02 -1.91526070e-04 9.99922854e-01 -5.98632488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:-63.77, Z:-5.99 [[ 9.65381310e-01 2.60565790e-01 1.20164653e-02 2.92926387e+02] [-2.60547828e-01 9.65456078e-01 -3.06435845e-03 -6.37654918e+01] [-1.23998365e-02 -1.72589566e-04 9.99923104e-01 -5.98768649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.148623853 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:292.95, Y:-63.77, Z:-5.98 [[ 9.66328154e-01 2.57041856e-01 1.18060880e-02 2.92954741e+02] [-2.57024265e-01 9.66400263e-01 -3.00981393e-03 -6.37680292e+01] [-1.21830547e-02 -1.25983149e-04 9.99925776e-01 -5.98176071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.98, Y:-63.77, Z:-5.99 [[ 9.66869730e-01 2.54975565e-01 1.22632256e-02 2.92980719e+02] [-2.54956428e-01 9.66947491e-01 -3.12564738e-03 -6.37729579e+01] [-1.26548589e-02 -1.04494356e-04 9.99919919e-01 -5.98883858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.208623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.01, Y:-63.78, Z:-5.99 [[ 9.67438008e-01 2.52812835e-01 1.22217253e-02 2.93007760e+02] [-2.52793676e-01 9.67515201e-01 -3.11329932e-03 -6.37781571e+01] [-1.26117870e-02 -7.76507763e-05 9.99920465e-01 -5.98924499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23862385300004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.04, Y:-63.78, Z:-5.99 [[ 9.68576105e-01 2.48393068e-01 1.26969951e-02 2.93035468e+02] [-2.48372027e-01 9.68659323e-01 -3.23306269e-03 -6.37829237e+01] [-1.31021331e-02 -2.21111569e-05 9.99914163e-01 -5.98957055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.268623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.06, Y:-63.79, Z:-5.99 [[ 9.69172989e-01 2.46037630e-01 1.30077711e-02 2.93062625e+02] [-2.46015347e-01 9.69260277e-01 -3.31121509e-03 -6.37888427e+01] [-1.34225993e-02 9.02889696e-06 9.99909913e-01 -5.99026206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29862385300004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.09, Y:-63.79, Z:-5.99 [[ 9.69685938e-01 2.44001245e-01 1.31367350e-02 2.93088539e+02] [-2.43978345e-01 9.69774918e-01 -3.34306541e-03 -6.37945167e+01] [-1.35553883e-02 3.66446417e-05 9.99908121e-01 -5.98994668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.328623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.12, Y:-63.80, Z:-5.99 [[ 9.70175375e-01 2.42030365e-01 1.34552500e-02 2.93115052e+02] [-2.42006169e-01 9.70268673e-01 -3.42285222e-03 -6.37998427e+01] [-1.38836417e-02 6.45134287e-05 9.99903616e-01 -5.99047618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.14, Y:-63.80, Z:-5.99 [[ 9.71077417e-01 2.38363584e-01 1.38366040e-02 2.93142500e+02] [-2.38337643e-01 9.71175982e-01 -3.51852058e-03 -6.38043910e+01] [-1.42764647e-02 1.18972282e-04 9.99898079e-01 -5.99134196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.388623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.17, Y:-63.81, Z:-5.99 [[ 9.71494983e-01 2.36666257e-01 1.36594710e-02 2.93169681e+02] [-2.36640824e-01 9.71590996e-01 -3.47234576e-03 -6.38105161e+01] [-1.40932061e-02 1.40978018e-04 9.99900676e-01 -5.99213515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.20, Y:-63.82, Z:-5.99 [[ 9.71962185e-01 2.34768411e-01 1.31645023e-02 2.93196937e+02] [-2.34744625e-01 9.72051319e-01 -3.34578382e-03 -6.38170474e+01] [-1.35820562e-02 1.61679188e-04 9.99907747e-01 -5.99289859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.448623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.22, Y:-63.82, Z:-5.99 [[ 9.72669542e-01 2.31868749e-01 1.22819219e-02 2.93223042e+02] [-2.31847824e-01 9.72747063e-01 -3.12067223e-03 -6.38239337e+01] [-1.26707899e-02 1.87845951e-04 9.99919705e-01 -5.99413386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.25, Y:-63.83, Z:-5.99 [[ 9.72960412e-01 2.30667161e-01 1.18616174e-02 2.93250386e+02] [-2.30647569e-01 9.73032693e-01 -3.01272774e-03 -6.38310490e+01] [-1.22366789e-02 1.95411611e-04 9.99925110e-01 -5.99466690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.508623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.28, Y:-63.84, Z:-6.00 [[ 9.73215355e-01 2.29592659e-01 1.17933769e-02 2.93277471e+02] [-2.29573223e-01 9.73286786e-01 -2.99449636e-03 -6.38374653e+01] [-1.21658522e-02 2.06846304e-04 9.99925972e-01 -5.99542553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:-63.84, Z:-6.00 [[ 9.73525894e-01 2.28290921e-01 1.14275523e-02 2.93303690e+02] [-2.28272592e-01 9.73592938e-01 -2.90084650e-03 -6.38430511e+01] [-1.17880211e-02 2.15452207e-04 9.99930496e-01 -5.99652121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.568623853 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.33, Y:-63.85, Z:-6.00 [[ 9.73732499e-01 2.27416008e-01 1.12685234e-02 2.93330519e+02] [-2.27398140e-01 9.73797674e-01 -2.85937043e-03 -6.38492052e+01] [-1.16235285e-02 2.21820648e-04 9.99932420e-01 -5.99718345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.36, Y:-63.86, Z:-6.00 [[ 9.73920796e-01 2.26621078e-01 1.10077769e-02 2.93356316e+02] [-2.26603984e-01 9.73982975e-01 -2.79248494e-03 -6.38556990e+01] [-1.13542233e-02 2.25253044e-04 9.99935513e-01 -5.99827538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.628623853 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:293.38, Y:-63.86, Z:-6.00 [[ 9.74067570e-01 2.26007930e-01 1.06199780e-02 2.93383811e+02] [-2.25991994e-01 9.74125436e-01 -2.69311618e-03 -6.38629646e+01] [-1.09538564e-02 2.23247114e-04 9.99939980e-01 -5.99899924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65862385300005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.41, Y:-63.87, Z:-6.00 [[ 9.74372034e-01 2.24686857e-01 1.07217793e-02 2.93410308e+02] [-2.24670543e-01 9.74430992e-01 -2.71809832e-03 -6.38710730e+01] [-1.10583551e-02 2.39571004e-04 9.99938826e-01 -5.99947779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.688623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:-63.88, Z:-6.00 [[ 9.74509307e-01 2.24079436e-01 1.09552553e-02 2.93437235e+02] [-2.24062376e-01 9.74570851e-01 -2.77641144e-03 -6.38785214e+01] [-1.12988092e-02 2.50978257e-04 9.99936135e-01 -6.00018189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.718623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:-63.89, Z:-6.00 [[ 9.74585519e-01 2.23737506e-01 1.11622099e-02 2.93464474e+02] [-2.23719783e-01 9.74649404e-01 -2.82798282e-03 -6.38857602e+01] [-1.15119671e-02 2.58903925e-04 9.99933702e-01 -6.00063206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.748623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.49, Y:-63.89, Z:-6.00 [[ 9.74705613e-01 2.23217682e-01 1.10830390e-02 2.93491461e+02] [-2.23200185e-01 9.74768587e-01 -2.80708718e-03 -6.38926225e+01] [-1.14299897e-02 2.62347292e-04 9.99934641e-01 -6.00122846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.778623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.52, Y:-63.90, Z:-6.00 [[ 9.74752287e-01 2.23031901e-01 1.07121525e-02 2.93517642e+02] [-2.23015550e-01 9.74811113e-01 -2.71263927e-03 -6.38991106e+01] [-1.10473304e-02 2.55174749e-04 9.99938944e-01 -6.00158949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80862385300003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:293.54, Y:-63.91, Z:-6.00 [[ 9.74732332e-01 2.23105288e-01 1.09959808e-02 2.93544082e+02] [-2.23088083e-01 9.74794318e-01 -2.78286270e-03 -6.39060078e+01] [-1.13396909e-02 2.59473979e-04 9.99935670e-01 -6.00234492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.838623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:-63.91, Z:-6.00 [[ 9.74602734e-01 2.23665376e-01 1.11045491e-02 2.93571544e+02] [-2.23647873e-01 9.74665960e-01 -2.80972312e-03 -6.39134331e+01] [-1.14516637e-02 2.54855061e-04 9.99934395e-01 -6.00268994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.60, Y:-63.92, Z:-6.00 [[ 9.74572130e-01 2.23789433e-01 1.12895158e-02 2.93598248e+02] [-2.23771360e-01 9.74637483e-01 -2.85566616e-03 -6.39208021e+01] [-1.16422532e-02 2.56782340e-04 9.99932194e-01 -6.00322635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.898623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:293.62, Y:-63.93, Z:-6.00 [[ 9.74553560e-01 2.23870635e-01 1.12826070e-02 2.93624267e+02] [-2.23852598e-01 9.74618835e-01 -2.85317352e-03 -6.39279745e+01] [-1.16349830e-02 2.54929532e-04 9.99932279e-01 -6.00368595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92862385300003 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:293.65, Y:-63.94, Z:-6.00 [[ 9.74503990e-01 2.24096612e-01 1.10762247e-02 2.93651490e+02] [-2.24079254e-01 9.74566903e-01 -2.80000591e-03 -6.39359993e+01] [-1.14219938e-02 2.46664758e-04 9.99934736e-01 -6.00026952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.958623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.68, Y:-63.94, Z:-6.00 [[ 9.74533607e-01 2.23962797e-01 1.11764851e-02 2.93676937e+02] [-2.23945122e-01 9.74597662e-01 -2.82472517e-03 -6.39434020e+01] [-1.15252096e-02 2.49870282e-04 9.99933551e-01 -6.00488588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98862385300004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.70, Y:-63.95, Z:-6.01 [[ 9.74553955e-01 2.23876484e-01 1.11314112e-02 2.93704048e+02] [-2.23858963e-01 9.74617493e-01 -2.81181199e-03 -6.39510423e+01] [-1.14783667e-02 2.48396320e-04 9.99934091e-01 -6.00613484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.018623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:-63.96, Z:-6.01 [[ 9.74622118e-01 2.23573173e-01 1.12589054e-02 2.93730906e+02] [-2.23555239e-01 9.74687115e-01 -2.84317923e-03 -6.39603548e+01] [-1.16095687e-02 2.54038069e-04 9.99932574e-01 -6.00692979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04862385300004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:293.76, Y:-63.97, Z:-6.01 [[ 9.74653102e-01 2.23426699e-01 1.14822083e-02 2.93757799e+02] [-2.23408047e-01 9.74720700e-01 -2.89856502e-03 -6.39681778e+01] [-1.18395629e-02 2.59877644e-04 9.99929876e-01 -6.00770788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.078623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:-63.98, Z:-6.01 [[ 9.74684454e-01 2.23291172e-01 1.14571732e-02 2.93785252e+02] [-2.23272602e-01 9.74751755e-01 -2.89142835e-03 -6.39763916e+01] [-1.18135301e-02 2.60157396e-04 9.99930184e-01 -6.00801251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.81, Y:-63.99, Z:-6.01 [[ 9.74776033e-01 2.22895747e-01 1.13654057e-02 2.93811395e+02] [-2.22877452e-01 9.74842253e-01 -2.86778151e-03 -6.39853307e+01] [-1.17186940e-02 2.62352009e-04 9.99931299e-01 -6.00883953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.138623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:-63.99, Z:-6.01 [[ 9.74812426e-01 2.22745675e-01 1.11847727e-02 2.93838009e+02] [-2.22727955e-01 9.74876555e-01 -2.82152804e-03 -6.39930965e+01] [-1.15322559e-02 2.59299043e-04 9.99933468e-01 -6.00932489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16862385300004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:-64.00, Z:-6.01 [[ 9.74770885e-01 2.22937899e-01 1.09734144e-02 2.93865120e+02] [-2.22920862e-01 9.74832616e-01 -2.76752563e-03 -6.40012460e+01] [-1.13142286e-02 2.51500408e-04 9.99935960e-01 -6.01032607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.198623853 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:293.89, Y:-64.01, Z:-6.01 [[ 9.74686293e-01 2.23331878e-01 1.04643843e-02 2.93892772e+02] [-2.23316417e-01 9.74742436e-01 -2.63825920e-03 -6.40088057e+01] [-1.07892868e-02 2.34606273e-04 9.99941766e-01 -6.00662298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22862385300004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:293.92, Y:-64.02, Z:-6.01 [[ 9.74222489e-01 2.25344086e-01 1.05159542e-02 2.93918847e+02] [-2.25328595e-01 9.74279219e-01 -2.65081367e-03 -6.40180358e+01] [-1.08428209e-02 2.12937093e-04 9.99941192e-01 -6.01126341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.258623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.95, Y:-64.03, Z:-6.01 [[ 9.73930210e-01 2.26601338e-01 1.05725952e-02 2.93946949e+02] [-2.26585763e-01 9.73987574e-01 -2.66428768e-03 -6.40264740e+01] [-1.09013075e-02 1.99230717e-04 9.99940559e-01 -6.01145037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:293.97, Y:-64.03, Z:-6.01 [[ 9.73613584e-01 2.27957204e-01 1.05878133e-02 2.93974108e+02] [-2.27941669e-01 9.73671135e-01 -2.66757281e-03 -6.40346085e+01] [-1.09171406e-02 1.83781293e-04 9.99940389e-01 -6.01225707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.318623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.00, Y:-64.04, Z:-6.01 [[ 9.72764805e-01 2.31554351e-01 1.05459514e-02 2.94000646e+02] [-2.31539155e-01 9.72821958e-01 -2.65658652e-03 -6.40431354e+01] [-1.08744772e-02 1.42433197e-04 9.99940861e-01 -6.01280735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34862385300005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.03, Y:-64.05, Z:-6.01 [[ 9.72312480e-01 2.33463678e-01 1.01564132e-02 2.94028523e+02] [-2.33449696e-01 9.72365516e-01 -2.55773789e-03 -6.40508474e+01] [-1.04728849e-02 1.15908898e-04 9.99945151e-01 -6.01306207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.378623853 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.06, Y:-64.06, Z:-6.01 [[ 9.71855651e-01 2.35351130e-01 1.03169391e-02 2.94055177e+02] [-2.35336813e-01 9.71910405e-01 -2.59772491e-03 -6.40578282e+01] [-1.06385180e-02 9.66580619e-05 9.99943405e-01 -6.01143562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40862385300005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.08, Y:-64.07, Z:-6.01 [[ 9.71364157e-01 2.37386864e-01 9.95743575e-03 2.94081767e+02] [-2.37373639e-01 9.71415190e-01 -2.50672159e-03 -6.40657546e+01] [-1.02678671e-02 7.13067455e-05 9.99947282e-01 -6.01433561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.438623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.11, Y:-64.07, Z:-6.02 [[ 9.70862898e-01 2.39444945e-01 9.55778063e-03 2.94108636e+02] [-2.39432868e-01 9.70909942e-01 -2.40531453e-03 -6.40732509e+01] [-9.85568465e-03 4.67838069e-05 9.99951430e-01 -6.01500587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.468623853 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.13, Y:-64.08, Z:-6.02 [[ 9.70018990e-01 2.42864437e-01 8.94564202e-03 2.94134916e+02] [-2.42854005e-01 9.70060238e-01 -2.25101445e-03 -6.40802565e+01] [-9.22450299e-03 1.10417733e-05 9.99957453e-01 -6.01543146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.498623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.16, Y:-64.09, Z:-6.01 [[ 9.69611378e-01 2.44489823e-01 8.86008112e-03 2.94161994e+02] [-2.44479666e-01 9.69651858e-01 -2.22858659e-03 -6.40868386e+01] [-9.13606087e-03 -5.24676216e-06 9.99958265e-01 -6.01359007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.528623853 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:294.19, Y:-64.09, Z:-6.01 [[ 9.69625893e-01 2.44432248e-01 8.86026867e-03 2.94189661e+02] [-2.44422095e-01 9.69666374e-01 -2.22784058e-03 -6.40936586e+01] [-9.13606067e-03 -5.47351844e-06 9.99958265e-01 -6.01413983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55862385300003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:-64.10, Z:-6.02 [[ 9.69134250e-01 2.46377596e-01 8.76846522e-03 2.94216394e+02] [-2.46367736e-01 9.69173916e-01 -2.20435115e-03 -6.41009698e+01] [-9.04127051e-03 -2.39547294e-05 9.99959127e-01 -6.01680046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.588623853 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:294.24, Y:-64.11, Z:-6.02 [[ 9.68227478e-01 2.49918814e-01 8.72569611e-03 2.94243270e+02] [-2.49909199e-01 9.68266793e-01 -2.19293105e-03 -6.41078766e+01] [-8.99685652e-03 -5.73756300e-05 9.99959526e-01 -6.01715563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61862385300003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:294.27, Y:-64.11, Z:-6.02 [[ 9.67735186e-01 2.51819591e-01 8.68926223e-03 2.94270656e+02] [-2.51810139e-01 9.67774193e-01 -2.18313761e-03 -6.41149211e+01] [-8.95900055e-03 -7.53452485e-05 9.99959865e-01 -6.01761039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.648623853 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:294.30, Y:-64.12, Z:-6.02 [[ 9.67295333e-01 2.53504806e-01 8.66325984e-03 2.94297902e+02] [-2.53495484e-01 9.67334123e-01 -2.17593564e-03 -6.41215756e+01] [-8.93187700e-03 -9.13248606e-05 9.99960106e-01 -6.01791881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67862385300003 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:294.33, Y:-64.13, Z:-6.02 [[ 9.66556304e-01 2.56306449e-01 8.71297869e-03 2.94325627e+02] [-2.56297139e-01 9.66595567e-01 -2.18773276e-03 -6.41268205e+01] [-8.98265660e-03 -1.18544628e-04 9.99959648e-01 -6.01609647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.708623853 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:294.35, Y:-64.13, Z:-6.02 [[ 9.66146973e-01 2.57857076e-01 8.35198355e-03 2.94352824e+02] [-2.57848585e-01 9.66183063e-01 -2.09650025e-03 -6.41340236e+01] [-8.61014247e-03 -1.28019768e-04 9.99962924e-01 -6.01786780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73862385300004 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:294.38, Y:-64.14, Z:-6.02 [[ 9.65870407e-01 2.58898360e-01 8.12376054e-03 2.94378733e+02] [-2.58890367e-01 9.65904561e-01 -2.03874717e-03 -6.41402330e+01] [-8.37460566e-03 -1.33997786e-04 9.99964923e-01 -6.01813863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.768623853 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:294.41, Y:-64.15, Z:-6.02 [[ 9.65819352e-01 2.59074171e-01 8.57635058e-03 2.94406134e+02] [-2.59065278e-01 9.65857419e-01 -2.15133514e-03 -6.41451519e+01] [-8.84088720e-03 -1.44033540e-04 9.99960908e-01 -6.01538852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79862385300004 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:294.43, Y:-64.15, Z:-6.02 [[ 9.65382696e-01 2.60724720e-01 7.67271806e-03 2.94432679e+02] [-2.60717658e-01 9.65413176e-01 -1.92421859e-03 -6.41511523e+01] [-7.90903446e-03 -1.42805756e-04 9.99968713e-01 -6.01739519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.828623853 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:294.46, Y:-64.16, Z:-6.02 [[ 9.65322075e-01 2.60956181e-01 7.42714604e-03 2.94459621e+02] [-2.60949575e-01 9.65350637e-01 -1.86207895e-03 -6.41567943e+01] [-7.65572117e-03 -1.40604686e-04 9.99970685e-01 -6.01733527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85862385300004 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:294.49, Y:-64.16, Z:-6.02 [[ 9.65418313e-01 2.60581293e-01 8.05424628e-03 2.94486747e+02] [-2.60573512e-01 9.65451898e-01 -2.01918198e-03 -6.41614241e+01] [-8.30214841e-03 -1.49367988e-04 9.99965525e-01 -6.01664119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.888623853 meters Centerline goodness : 0.988428 Centerline is valid? [True, True] Translation: X:294.51, Y:-64.17, Z:-6.02 [[ 9.65254343e-01 2.61209987e-01 7.30721422e-03 2.94514513e+02] [-2.61203611e-01 9.65281991e-01 -1.83050437e-03 -6.41667845e+01] [-7.53166832e-03 -1.41768447e-04 9.99971627e-01 -6.01759993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91862385300004 meters Centerline goodness : 0.986558 Centerline is valid? [True, True] Translation: X:294.54, Y:-64.17, Z:-6.02 [[ 9.65426919e-01 2.60570569e-01 7.33776788e-03 2.94540904e+02] [-2.60564121e-01 9.65454794e-01 -1.83825700e-03 -6.41715227e+01] [-7.56327885e-03 -1.37256249e-04 9.99971389e-01 -6.01792216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.948623853 meters Centerline goodness : 0.983880 Centerline is valid? [True, True] Translation: X:294.57, Y:-64.18, Z:-6.02 [[ 9.65510514e-01 2.60274118e-01 6.84337096e-03 2.94568054e+02] [-2.60268512e-01 9.65534757e-01 -1.71299543e-03 -6.41773028e+01] [-7.05336089e-03 -1.27198878e-04 9.99975117e-01 -6.01825986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97862385300004 meters Centerline goodness : 0.981685 Centerline is valid? [True, True] Translation: X:294.60, Y:-64.18, Z:-6.02 [[ 9.65569162e-01 2.60057968e-01 6.78583938e-03 2.94595733e+02] [-2.60052454e-01 9.65592998e-01 -1.69807774e-03 -6.41836705e+01] [-6.99395764e-03 -1.25062689e-04 9.99975534e-01 -6.01900656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.008623853 meters Centerline goodness : 0.976415 Centerline is valid? [True, True] Translation: X:294.62, Y:-64.19, Z:-6.02 [[ 9.65909949e-01 2.58784020e-01 6.98581317e-03 2.94622531e+02] [-2.58778147e-01 9.65935203e-01 -1.74767394e-03 -6.41877033e+01] [-7.20011295e-03 -1.19680136e-04 9.99974072e-01 -6.01949757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03862385300005 meters Centerline goodness : 0.974027 Centerline is valid? [True, True] Translation: X:294.65, Y:-64.19, Z:-6.02 [[ 9.65989924e-01 2.58483895e-01 7.03860713e-03 2.94650020e+02] [-2.58477930e-01 9.66015560e-01 -1.76007081e-03 -6.41932997e+01] [-7.25435396e-03 -1.19113937e-04 9.99973680e-01 -6.02012416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.068623853 meters Centerline goodness : 0.970901 Centerline is valid? [True, True] Translation: X:294.68, Y:-64.20, Z:-6.02 [[ 9.66145545e-01 2.57900778e-01 7.06920075e-03 2.94676307e+02] [-2.57894749e-01 9.66171401e-01 -1.76731091e-03 -6.41979366e+01] [-7.28585044e-03 -1.15630186e-04 9.99973451e-01 -6.02036329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09862385300005 meters Centerline goodness : 0.968655 Centerline is valid? [True, True] Translation: X:294.70, Y:-64.20, Z:-6.02 [[ 9.66288628e-01 2.57353606e-01 7.44368495e-03 2.94704122e+02] [-2.57346912e-01 9.66317291e-01 -1.86002852e-03 -6.42037042e+01] [-7.67164652e-03 -1.18284925e-04 9.99970565e-01 -6.02140152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.128623853 meters Centerline goodness : 0.976978 Centerline is valid? [True, True] Translation: X:294.74, Y:-64.26, Z:-6.00 [[ 9.65839377e-01 2.58286732e-01 2.10300287e-02 2.94735372e+02] [-2.59128468e-01 9.63418171e-01 6.83949240e-02 -6.42619115e+01] [-2.59521040e-03 -7.15079899e-02 9.97436651e-01 -5.99920706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15862385300005 meters Centerline goodness : 0.975781 Centerline is valid? [True, True] Translation: X:294.77, Y:-64.23, Z:-6.01 [[ 9.65564680e-01 2.60152477e-01 2.35311288e-03 2.94774110e+02] [-2.60139459e-01 9.65559355e-01 -4.75320981e-03 -6.42305140e+01] [-3.50862946e-03 3.97739400e-03 9.99985935e-01 -6.00733844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.188623853 meters Centerline goodness : 0.974771 Centerline is valid? [True, True] Translation: X:294.80, Y:-64.24, Z:-6.01 [[ 9.66318438e-01 2.57200745e-01 8.74370536e-03 2.94801519e+02] [-2.57265445e-01 9.66313156e-01 7.30586332e-03 -6.42422570e+01] [-6.57008403e-03 -9.30924369e-03 9.99935084e-01 -6.01018547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.218623853 meters Centerline goodness : 0.970960 Centerline is valid? [True, True] Translation: X:294.83, Y:-64.24, Z:-6.01 [[ 9.67094778e-01 2.54414964e-01 8.46434793e-04 2.94830632e+02] [-2.54386307e-01 9.67026289e-01 -1.21558117e-02 -6.42373281e+01] [-3.91114509e-03 1.15405006e-02 9.99925757e-01 -6.00959699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.248623853 meters Centerline goodness : 0.969052 Centerline is valid? [True, True] Translation: X:294.85, Y:-64.25, Z:-6.01 [[ 9.67711281e-01 2.52006268e-01 5.26478753e-03 2.94854387e+02] [-2.52008586e-01 9.67724971e-01 -2.29248217e-04 -6.42492592e+01] [-5.15263835e-03 -1.10492558e-03 9.99986115e-01 -6.01166089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.278623853 meters Centerline goodness : 0.967183 Centerline is valid? [True, True] Translation: X:294.88, Y:-64.25, Z:-6.01 [[ 9.68362813e-01 2.49486308e-01 5.48120584e-03 2.94882110e+02] [-2.49482596e-01 9.68378325e-01 -1.36194053e-03 -6.42545936e+01] [-5.64766644e-03 -4.86128967e-05 9.99984051e-01 -6.01336777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30862385300003 meters Centerline goodness : 0.963612 Centerline is valid? [True, True] Translation: X:294.91, Y:-64.26, Z:-6.02 [[ 9.69466163e-01 2.45175034e-01 4.95592135e-03 2.94909634e+02] [-2.45151306e-01 9.69472235e-01 -4.94202281e-03 -6.42593474e+01] [-6.01628876e-03 3.57617330e-03 9.99975507e-01 -6.01597110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.338623853 meters Centerline goodness : 0.961871 Centerline is valid? [True, True] Translation: X:294.94, Y:-64.27, Z:-6.02 [[ 9.70357203e-01 2.41321451e-01 1.30711799e-02 2.94935606e+02] [-2.41473741e-01 9.70337101e-01 1.16766184e-02 -6.42740404e+01] [-9.86563228e-03 -1.44868375e-02 9.99846389e-01 -6.01803984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36862385300003 meters Centerline goodness : 0.959408 Centerline is valid? [True, True] Translation: X:294.97, Y:-64.27, Z:-6.02 [[ 9.70803501e-01 2.39745799e-01 7.90663915e-03 2.94965905e+02] [-2.39701922e-01 9.70827309e-01 -6.10934818e-03 -6.42707455e+01] [-9.14067177e-03 4.03574001e-03 9.99950079e-01 -6.01961552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.398623853 meters Centerline goodness : 0.957065 Centerline is valid? [True, True] Translation: X:294.99, Y:-64.28, Z:-6.02 [[ 9.71226042e-01 2.38068751e-01 6.57609761e-03 2.94992140e+02] [-2.38015216e-01 9.71228511e-01 -7.99606471e-03 -6.42750866e+01] [-8.29050663e-03 6.20077499e-03 9.99946408e-01 -6.02064592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42862385300003 meters Centerline goodness : 0.951830 Centerline is valid? [True, True] Translation: X:295.02, Y:-64.28, Z:-6.02 [[ 9.71981657e-01 2.34872280e-01 9.30973718e-03 2.95016245e+02] [-2.34861963e-01 9.72026239e-01 -2.20188197e-03 -6.42839640e+01] [-9.56646986e-03 -4.63142666e-05 9.99954239e-01 -6.02189846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.458623853 meters Centerline goodness : 0.943989 Centerline is valid? [True, False] Translation: X:295.02, Y:-64.28, Z:-6.02 [[ 9.71987393e-01 2.34846577e-01 9.35912312e-03 2.95016065e+02] [-2.34837752e-01 9.72032428e-01 -2.04652841e-03 -6.42849313e+01] [-9.57799136e-03 -2.08675622e-04 9.99954108e-01 -6.02174676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48862385300004 meters Centerline goodness : 0.939986 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.27, Z:-6.02 [[ 9.73277709e-01 2.29334170e-01 1.16764730e-02 2.94958936e+02] [-2.29350256e-01 9.73343957e-01 3.96581917e-05 -6.42679382e+01] [-1.13561294e-02 -2.71660050e-03 9.99931827e-01 -6.02397923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.518623853 meters Centerline goodness : 0.934069 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.26, Z:-6.02 [[ 9.74274699e-01 2.25127787e-01 1.03097237e-02 2.94960860e+02] [-2.25087065e-01 9.74325987e-01 -4.96827256e-03 -6.42631263e+01] [-1.11635279e-02 2.51987681e-03 9.99934511e-01 -6.02384277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54862385300004 meters Centerline goodness : 0.935615 Centerline is valid? [False, False] Translation: X:294.96, Y:-64.26, Z:-6.02 [[ 9.74053349e-01 2.26052082e-01 1.09785740e-02 2.94959028e+02] [-2.26021567e-01 9.74114244e-01 -3.96119826e-03 -6.42641341e+01] [-1.15898225e-02 1.37702392e-03 9.99931888e-01 -6.02302910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.578623853 meters Centerline goodness : 0.897587 Centerline is valid? [False, False] Translation: X:294.94, Y:-64.26, Z:-6.02 [[ 9.74539428e-01 2.23951696e-01 1.08876198e-02 2.94939968e+02] [-2.24019772e-01 9.74569185e-01 5.48136819e-03 -6.42611906e+01] [-9.38317705e-03 -7.78085153e-03 9.99925704e-01 -6.02159466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60862385300004 meters Centerline goodness : 0.892766 Centerline is valid? [False, False] Translation: X:294.90, Y:-64.25, Z:-6.02 [[ 9.75166670e-01 2.21346148e-01 7.47313380e-03 2.94904543e+02] [-2.21360950e-01 9.75191201e-01 1.20499665e-03 -6.42457812e+01] [-7.02101296e-03 -2.82933257e-03 9.99971350e-01 -6.02137836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.638623853 meters Centerline goodness : 0.886765 Centerline is valid? [False, False] Translation: X:294.89, Y:-64.24, Z:-6.02 [[ 9.74789619e-01 2.23099874e-01 3.41234488e-03 2.94891648e+02] [-2.23060878e-01 9.74760661e-01 -9.24656255e-03 -6.42361826e+01] [-5.38912649e-03 8.25229255e-03 9.99951427e-01 -6.02225812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66862385300004 meters Centerline goodness : 0.883148 Centerline is valid? [False, False] Translation: X:294.90, Y:-64.23, Z:-6.02 [[ 9.75644785e-01 2.19350767e-01 1.57957132e-03 2.94895666e+02] [-2.19306601e-01 9.75551274e-01 -1.42942895e-02 -6.42310047e+01] [-4.67641617e-03 1.35997386e-02 9.99896584e-01 -6.02188974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.698623853 meters Centerline goodness : 0.878061 Centerline is valid? [False, False] Translation: X:294.86, Y:-64.22, Z:-6.02 [[ 9.76085246e-01 2.17372578e-01 -2.59911990e-03 2.94862542e+02] [-2.17383467e-01 9.75916398e-01 -1.82102089e-02 -6.42166515e+01] [-1.42187634e-03 1.83397220e-02 9.99830802e-01 -6.02074759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72862385300004 meters Centerline goodness : 0.873324 Centerline is valid? [False, False] Translation: X:294.86, Y:-64.22, Z:-6.02 [[ 9.76095468e-01 2.17322236e-01 -2.94659608e-03 2.94864057e+02] [-2.17339168e-01 9.75920348e-01 -1.85246056e-02 -6.42152046e+01] [-1.15016563e-03 1.87221943e-02 9.99824063e-01 -6.02063530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.758623853 meters Centerline goodness : 0.894731 Centerline is valid? [False, False] Translation: X:294.87, Y:-64.21, Z:-6.02 [[ 9.76122074e-01 2.17193077e-01 -3.58660741e-03 2.94866872e+02] [-2.17221586e-01 9.75931451e-01 -1.93025002e-02 -6.42117003e+01] [-6.92086426e-04 1.96206850e-02 9.99807256e-01 -6.02002892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78862385300005 meters Centerline goodness : 0.890761 Centerline is valid? [False, False] Translation: X:294.87, Y:-64.21, Z:-6.02 [[ 9.76132899e-01 2.17139271e-01 -3.88583820e-03 2.94868276e+02] [-2.17173466e-01 9.75933006e-01 -1.97598983e-02 -6.42094677e+01] [-4.98332164e-04 2.01321878e-02 9.99797203e-01 -6.01974983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.818623853 meters Centerline goodness : 0.902475 Centerline is valid? [False, False] Translation: X:294.87, Y:-64.21, Z:-6.02 [[ 9.76145693e-01 2.17074052e-01 -4.29434979e-03 2.94870036e+02] [-2.17116413e-01 9.75934102e-01 -2.03246499e-02 -6.42068300e+01] [-2.20951707e-04 2.07721933e-02 9.99784210e-01 -6.01933202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84862385300005 meters Centerline goodness : 0.883248 Centerline is valid? [False, False] Translation: X:294.88, Y:-64.20, Z:-6.02 [[ 9.76083446e-01 2.17328714e-01 -5.41625469e-03 2.94875262e+02] [-2.17395067e-01 9.75855668e-01 -2.10973823e-02 -6.42023099e+01] [ 7.00415893e-04 2.17702726e-02 9.99762754e-01 -6.01902408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.878623853 meters Centerline goodness : 0.880794 Centerline is valid? [False, False] Translation: X:294.88, Y:-64.21, Z:-6.02 [[ 9.75172875e-01 2.21398557e-01 -4.53237022e-03 2.94875487e+02] [-2.21443634e-01 9.75033255e-01 -1.65187521e-02 -6.42050761e+01] [ 7.61983804e-04 1.71123035e-02 9.99853283e-01 -6.01931210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90862385300005 meters Centerline goodness : 0.877747 Centerline is valid? [False, False] Translation: X:294.88, Y:-64.20, Z:-6.02 [[ 9.75200094e-01 2.21273488e-01 -4.77692930e-03 2.94876812e+02] [-2.21323193e-01 9.75053073e-01 -1.69572678e-02 -6.42027075e+01] [ 9.05565789e-04 1.75939744e-02 9.99844804e-01 -6.01925998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.938623853 meters Centerline goodness : 0.875671 Centerline is valid? [False, False] Translation: X:294.88, Y:-64.20, Z:-6.02 [[ 9.75263253e-01 2.20982211e-01 -5.33386117e-03 2.94879846e+02] [-2.21042911e-01 9.75102047e-01 -1.77772267e-02 -6.41983095e+01] [ 1.27260808e-03 1.85164881e-02 9.99827745e-01 -6.01913429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.968623853 meters Centerline goodness : 0.868497 Centerline is valid? [False, False] Translation: X:294.88, Y:-64.20, Z:-6.02 [[ 9.75316237e-01 2.20744529e-01 -5.48558206e-03 2.94880931e+02] [-2.20808857e-01 9.75144496e-01 -1.83482995e-02 -6.41956246e+01] [ 1.29894843e-03 1.91066595e-02 9.99816607e-01 -6.01911653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.998623853 meters Centerline goodness : 0.868467 Centerline is valid? [False, False] Translation: X:294.88, Y:-64.19, Z:-6.02 [[ 9.75358089e-01 2.20554308e-01 -5.69177789e-03 2.94882122e+02] [-2.20623216e-01 9.75178651e-01 -1.87615232e-02 -6.41936712e+01] [ 1.41256552e-03 1.95549418e-02 9.99807786e-01 -6.01902805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.028623853 meters Centerline goodness : 0.859448 Centerline is valid? [False, False] Translation: X:294.88, Y:-64.19, Z:-6.02 [[ 9.75390189e-01 2.20408777e-01 -5.82665956e-03 2.94883111e+02] [-2.20480849e-01 9.75204471e-01 -1.90901937e-02 -6.41922579e+01] [ 1.47453821e-03 1.99050544e-02 9.99800787e-01 -6.01905358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05862385300003 meters Centerline goodness : 0.852133 Centerline is valid? [False, False] Translation: X:294.89, Y:-64.19, Z:-6.02 [[ 9.75473362e-01 2.20021211e-01 -6.51049962e-03 2.94886479e+02] [-2.20108172e-01 9.75277703e-01 -1.96416529e-02 -6.41894170e+01] [ 2.02796486e-03 2.05929234e-02 9.99785887e-01 -6.01850313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.088623853 meters Centerline goodness : 0.874873 Centerline is valid? [False, False] Translation: X:294.89, Y:-64.19, Z:-6.02 [[ 9.75507203e-01 2.19867927e-01 -6.61745949e-03 2.94887602e+02] [-2.19957641e-01 9.75306676e-01 -1.98877821e-02 -6.41884356e+01] [ 2.08136699e-03 2.08562355e-02 9.99780319e-01 -6.01891120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11862385300003 meters Centerline goodness : 0.878515 Centerline is valid? [False, False] Translation: X:294.89, Y:-64.19, Z:-6.02 [[ 9.75529419e-01 2.19765052e-01 -6.75832793e-03 2.94888689e+02] [-2.19857964e-01 9.75326962e-01 -1.99947977e-02 -6.41882688e+01] [ 2.19742170e-03 2.09913856e-02 9.99777242e-01 -6.01919403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.148623853 meters Centerline goodness : 0.695870 Centerline is valid? [False, False] Translation: X:294.89, Y:-64.19, Z:-6.02 [[ 9.75610735e-01 2.19385242e-01 -7.33555271e-03 2.94891746e+02] [-2.19490683e-01 9.75407468e-01 -2.01025458e-02 -6.41883394e+01] [ 2.74495101e-03 2.12223450e-02 9.99771012e-01 -6.01908690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17862385300003 meters Centerline goodness : 0.707869 Centerline is valid? [False, False] Translation: X:294.89, Y:-64.19, Z:-6.02 [[ 9.75636034e-01 2.19267775e-01 -7.48142178e-03 2.94892825e+02] [-2.19376397e-01 9.75432759e-01 -2.01228295e-02 -6.41885145e+01] [ 2.88533584e-03 2.12738050e-02 9.99769523e-01 -6.01921060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.208623853 meters Centerline goodness : 0.841564 Centerline is valid? [False, False] Translation: X:294.89, Y:-64.19, Z:-6.02 [[ 9.75674031e-01 2.19093319e-01 -7.63567282e-03 2.94894058e+02] [-2.19205332e-01 9.75470738e-01 -2.01459977e-02 -6.41890517e+01] [ 3.03452190e-03 2.13297070e-02 9.99767891e-01 -6.01955539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7048.39 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%| | 0/10303 [00:00